arXiv:2607.03998v3 Announce Type: replace
Abstract: The local sharpness of the loss, the top Hessian eigenvalue $\lambda_1$, determines the largest stable gradient step, but measuring it normally requires Lanczos or Hessian-vector iterations. We observe that a single Armijo backtracking line search already carries this information at the cost of a few forward passes: the accepted step $\alpha$ brackets the \emph{directional} curvature $q = g^\top H g/\|g\|^2$ within the multiplicative band set by the backtracking factor. Across CIFAR-10, Fashion-MNIST and Imagenette, $\log\alpha$ tracks $\log\lambda_1$ at Pearson $-0.91$ to $-0.95$, giving a low-cost online Edge-of-Stability reading. Used once at initialisation, this measurement yields a learning-rate cap (a safeguard, not a faster optimiser) that makes Adam robust to a too-large initial learning rate across more than three orders of magnitude ($10^{-3}$ to $3.0$), at about one percent overhead, and it is a no-op when the chosen rate is already safe. One probe is enough: periodic in-training probing adds no robust benefit. The raw-gradient probe exposes the mechanism but needs a safety factor calibrated to the architecture by a one-minute divergence sweep. Probing along Adam's own update direction removes this calibration: a single fixed safety factor $\kappa = 2$ avoids divergence on all nine architectures we test and across the full learning-rate grids of all four benchmarks, and the recipe transfers to AdamW unchanged.
Science Journals
arXiv:2607.04667v2 Announce Type: replace
Abstract: Software engineering has a complicated relationship with "correctness". We recognize the challenges of full formal rigor as well as many required properties beyond functional correctness. Although we satisfice in practice, we are still stuck in the mindset that we could reason our way to correctness, if only we had enough information. Unfortunately for our hopes of formal rigor, our expectations are shaped by unspoken knowledge that is personal, subjective, qualitative, and largely unavailable. Generative AI has introduced a new dimension to assurance: its foundation is statistical rather than formal. Traditional software engineering establishes confidence through rigorous reasoning, domain knowledge and expert judgment. In contrast, generative AI results are sophisticated predictions, "probably approximately correct". This inherently limits assurances about the results to probabilistic assertions. Further, the nuances that guide human judgment are often tacit or implicit. This knowledge casts only scant shadows into the digital record, so that critical source of knowledge is only faintly represented in AI models. We have many approaches for developing assurances that a software system does what it's expected to do, though most of them focus on code specifications rather than system requirements, let alone the system's fitness for its purpose. We have failed to develop a systematic understanding of the relative merits of the various approaches to assurance. I hope that generative AI will finally force us to tackle this. To that end, I will challenge us to think systematically about our assurance techniques, especially the role of hidden context and the challenges of AI. We need ways to make informed, reasoned choices about cost-effective combinations of approaches to developing confidence in our systems. We call ourselves software engineers. Let's act like engineers.
arXiv:2607.04763v2 Announce Type: replace
Abstract: We study on-policy distillation (OPD) for agentic tasks, where an LLM agent interacts with an environment over multiple turns and a student imitates a teacher over these multi-turn interaction histories. Fully online OPD is costly because each update requires fresh student rollouts through the environment and teacher queries at visited histories. We propose Replayed-Prefix On-Policy Distillation (ReOPD), an off-environment alternative that reuses pre-collected teacher trajectories as replayed prefixes: the student acts at selected steps, while the teacher provides dense per-step supervision without executing new environment interactions. We show that multi-turn OPD introduces a prefix trap: making histories more student-on-policy improves relevance to the student, but can query the teacher on histories where its target is unreliable. This creates a two-sided distribution shift between student occupancy and teacher reliability. ReOPD addresses this by treating multi-turn OPD as a reliability-aware prefix distribution design and implements it with a simple step-decaying sampling schedule that emphasizes early, lower-shift prefixes. Across mathematical reasoning with Python and search environments over multiple teacher and student model scales, ReOPD preserves or improves OPD-level accuracy, uses zero tool calls during student training, and is at least 4$\times$ faster per rollout than OPD. ReOPD therefore turns expensive agent-environment interaction into a reusable offline resource, enabling scalable distillation across tools, tasks, and environments.
arXiv:2607.14660v1 Announce Type: new
Abstract: Visually impaired individuals (VIIs) encounter significant daily challenges due to limited access to visual information. Although Multimodal Large Language Models (MLLMs) have achieved impressive results on general vision and language tasks, their practical utility in real-world blind assistance still remains largely underexplored. To fill this gap, we introduce VIABench, a comprehensive video benchmark specifically designed to evaluate MLLMs in Visually Impaired Assistance scenarios using first-person videos recorded or shared by VIIs themselves. VIABench defines three core tasks, each targeting a distinct requirement in visual assistance. Proactive Reminder: Assesses the model's ability to interpret ongoing video content while proactively anticipating and verbally describing upcoming navigation-critical events; Visual Question Answering (VQA): Evaluates the model's capacity to answer user-posed questions about the environment or objects within the video; Vision-Guided Interaction: Tests context-aware reasoning to accomplish intentional interactions between user and environment. To ensure a robust and fair evaluation, we propose a rigorous benchmarking pipeline that supports both online (real-time) and offline settings. Our experiments demonstrate that current MLLMs still struggle to deliver comprehensive support for VIIs, especially in the Proactive Reminder task, which demands accurate anticipation and real-time responsiveness. We hope VIABench will drive future research toward developing customized MLLMs for real-world assistance, ultimately improving navigation and interaction experiences for visually impaired individuals. Code and data will be released at https://github.com/MCG-NJU/VIABench.
arXiv:2607.14900v1 Announce Type: new
Abstract: Identifying known software vulnerabilities is a central task in software supply chain security management. Although publicly available vulnerability information is based on shared standards, different vulnerability scanners often report divergent results for identical software inventories. These differences do not arise solely from individual data sources or scanner implementations. They can emerge at several stages of the open-source vulnerability ecosystem. This paper presents a conceptual framework that describes vulnerability management as a distributed process of information exchange and transformation. It traces vulnerability information from its creation and standardization through enrichment to context-dependent interpretation. The analysis identifies heterogeneous information sources, divergent identity and version models, temporal change, and context-dependent assessment as major causes of inconsistent scanner findings. It then discusses the implications for interpreting analysis results, designing reproducible evaluation methods, and handling dynamic vulnerability knowledge in practice.
arXiv:2607.14468v1 Announce Type: new
Abstract: Robots are increasingly integrated into everyday contexts, including museums, where they can both entertain and educate visitors. To enhance visitor experience and engagement, we present a novel mixed-agent tour guide system that combines a physical robot with a projected virtual agent that actively participates in the tour through conversation and interaction, achieving the interaction richness of two mobile agents from a single platform. We validate the system through a within-subjects study with 30 participants to assess engagement, quality of experience, and learning performance. Participants experienced different conversational styles and agent configurations, and data were collected via surveys, behavioral sensors, and interviews. Results showed that engagement and quality of experience remained consistent across conditions. Learning performance revealed a significant gender-moderated difference: the mixed-agent conditions improved learning performance for female participants. This suggests that the proposed dyadic conversational style in this paper influenced learning performance differently by gender. Nonetheless, in interviews, participants reported a greater preference for mixed-agent teams regardless of gender, citing interaction as a key factor in their experience.
arXiv:2607.14678v1 Announce Type: new
Abstract: Two-dimensional (2D) Ruddlesden Popper perovskites are promising optoelectronic materials with strongly confined excitonic properties; however, probing their ultrafast carrier transport dynamics, particularly the initial nonequilibrium diffusion regime, remains challenging because conventional transient absorption microscopy requires complex spatial imaging and lacks sufficient temporal sensitivity to resolve early time diffusion dynamics. Here, we demonstrate a vortex beam based transient absorption microspectroscopy platform (VTAM) enabling imaging free measurement of carrier transport by encoding spatial diffusion information into the mode dependent pump probe signal. By employing vortex probes with different topological charges, VTAM provides mode selective spatial sensitivity to excitonic dynamics with subpicosecond temporal resolution. Using VTAM, we resolved rapid free exciton (FE) diffusion followed by relaxation toward a slower steady state transport regime. A theoretically derived time dependent diffusion model separated transient and steady state transport contributions, yielding a transient diffusion enhancement (68.84 cm2 per s) and a steady state diffusion coefficient (1.85 cm2 per s), thus providing an initial diffusion coefficient (70.69 cm2 per s), and a cooling time of 0.35 ps. Measurements at the exciton-polaron (EP) resonance revealed strongly suppressed diffusion with nearly time independent signal ratios, indicating lattice-coupled EP transport. These parameters were extracted without spatial scanning or image reconstruction, establishing V-TAM as a powerful imaging free platform for investigating carrier transport in perovskites and other semiconductor systems.
arXiv:2607.14919v1 Announce Type: new
Abstract: Recent advances in Generative Artificial Intelligence (GenAI), particularly Large Language Models (LLMs), are driving robotic architectures toward agent-based high-level orchestration, in which natural-language instructions can be translated into context-aware action sequences. While the integration of these agents and robotic capabilities is increasingly converging toward standardization through the Model Context Protocol (MCP), the upper Human-Robot Interaction (HRI) layer remains fragmented by proprietary, ad hoc interfaces that hinder real-time human-in-the-loop collaboration.
To address this fragmentation, this paper proposes the adoption of the Agent-Client Protocol (ACP) -- a communication standard originally introduced for coding agents in software engineering -- as a unified communication contract for the HRI layer in agent-based robotic systems. By combining ACP at the interface-agent link and MCP at the agent-execution link, we formulate a fully decoupled three-layer architecture that separates human interaction, deliberative orchestration, and physical execution. This topology removes rigid architectural dependencies, enabling heterogeneous user interfaces to connect to the same robotic system and allowing the underlying robotic platform to be replaced without requiring client-specific integration changes. Moreover, it provides native support for collaborative HRI capabilities such as real-time observability, explicit human authorization, and immediate task interruption. We experimentally evaluate the proposed architecture on a physical mobile robot, demonstrating interoperability across three heterogeneous user interfaces and validating real-time human-in-the-loop workflows with negligible latency overhead.
arXiv:2607.06214v2 Announce Type: replace
Abstract: This paper offers a framework for considering curiosity as an ecosystem. First, it suggests that a single agent's inquiry policy (how, when, and why an agent asks a question) depends on how the agent values immediate uncertainty reduction, costs, delayed return, and the value of keeping the question open. A key concept in the framework is that the weights on these decision-related terms can change with experience. For example, a period of cheap, quickly answered questions may change the cost of inquiry on a short timescale and change which kinds of questions the agent is drawn to answer over a longer timescale. Second, these ideas are extended to many agents exploring a shared knowledge landscape, and there the framework tracks inquiry volume, topic diversity, frontier-directed inquiry, redundancy, and reusable knowledge. The result is a conceptual framework for studying curiosity ecology and for future efforts towards designing multi-agent AI systems for discovery.
arXiv:2607.06503v2 Announce Type: replace
Abstract: Large language model (LLM) agents often waste inference compute by continuing multi-step trajectories that are already doomed to fail. We study early failure prediction and inference-time early stopping for LLM agents using hidden-state probes. Lightweight linear probes on internal activations predict eventual task failure from the first interaction round, substantially earlier than agent-monitoring methods based only on observable behavior. We turn this signal into a recall-controlled abort cascade for reducing LLM agent inference costs. The cascade applies a distribution-free calibrated failure detector at each early interaction round and jointly optimizes per-round recall budgets. This design ensures that eventually successful episodes survive all early-stopping gates at a user-specified global recall rate. After selection, the cascade is frozen and certified on independent data, providing an exact post-selection recall guarantee. We evaluate the method on TextCraft and WebShop with Qwen-2.5-7B, Llama-3.2-3B, and Qwen3-1.7B. The proposed LLM agent early-stopping cascade outperforms the best single-gate baseline in every model-environment pair, saving 1.5-8.8 times more compute at a 90% recall target. Achieved recall remains within one standard deviation of its target in all 24 configurations. The strongest settings reduce generated tokens by 60.2% on TextCraft and 54.9% on WebShop at 90% recall, while retaining savings of 45.0% and 41.5% at 95% recall. Behavior-only monitoring is consistently weaker, and adding behavioral features to hidden-state probes provides no further gain. We also characterize the sample complexity required to certify high-recall early-stopping policies. The code will be released soon.
arXiv:2607.06864v2 Announce Type: replace
Abstract: We give randomized $(5+\epsilon)$-approximation algorithms for both the continuous and discrete Fr\'echet distances on arbitrary two polygonal curves $\tau$ and $\sigma$ in $\mathbb R^d$ for fixed $d$, with $n$ and $m\le n$ vertices respectively. Our algorithm for continuous Fr\'echet runs in $\widetilde O_{d,\epsilon}(n m^{8/9})$ time, and our algorithm for discrete Fr\'echet runs in $\widetilde O_{d,\epsilon}(n m^{4/5})$ time. These bounds improve the recent strongly subquadratic constant-factor approximation algorithms of Cheng, Huang, and Zhang~\cite{cheng2025constant}, which give $(7+\epsilon)$-approximations.
The approximation improvement comes from certifying long boundary-to-boundary reachability directly through auxiliary surrogate curves, avoiding an extra conversion back to input subcurves and hence removing one triangle-inequality loss. The running-time improvement comes from a two-scale macro-surrogate search combined with dyadic auxiliary-transfer structures, with the discrete case gaining a faster bound from exact planar reachability in the discrete free-space graph.
arXiv:2607.08748v2 Announce Type: replace
Abstract: In this study, we present a large-scale descriptive analysis of the use of an AI-based learning assistant (Syntea) in higher education. Based on objective log data from 77,543 students enrolled in distance studies, we examine usage patterns across gender, age group, study cluster, degree, and study mode. To date, existing research on educational chatbots has largely relied on comparatively small samples and self-reported survey data, while large-scale evidence on actual usage behavior remains limited. Our findings show that Syntea is already embedded in the study routines of many learners, but that usage differs across demographic and structural contexts. By identifying these patterns, our study provides an empirical basis for the further development of AI-based learning support and contributes a large-scale analysis of educational chatbot usage in higher education.
arXiv:2607.09142v3 Announce Type: replace
Abstract: Large language models (LLMs) are increasingly deployed in online medical consultation, yet existing benchmarks remain poorly aligned with real clinical practice. Many rely on synthetic conversations or patient simulators, omit patient-uploaded medical images, or evaluate open-ended clinical responses using multiple-choice or lexical-overlap metrics that poorly reflect clinical quality. We introduce \textbf{MedRealMM}, a large-scale benchmark for multimodal online medical consultation built from de-identified patient-doctor interactions collected from a nationwide Chinese internet hospital. MedRealMM uses a Multimodal Clinical Challenge Point (MCCP) extraction framework to identify clinically demanding moments in authentic consultation trajectories and converts each into a standardized next-response generation task while preserving the preceding text-image context. Each instance is paired with a case-specific rubric refined by physicians that rewards clinically desirable behaviors and penalizes unsafe, unsupported, or contradictory responses. The current release contains 5,620 real-world multimodal cases spanning 64 clinical departments. We evaluate 19 general-purpose and medical-specialized LLMs, including text-only and multimodal systems. Our results show that image information is critical for reliable clinical performance and that current frontier models remain below the online physician response. Although some frontier models satisfy as many or more positive clinical criteria than physicians, they trigger more negative criteria, indicating that safety-sensitive error avoidance remains a central bottleneck. MedRealMM offers a realistic and reproducible benchmark for evaluating multimodal medical reasoning in real-world online consultation. The dataset will be publicly available on Hugging Face at https://huggingface.co/datasets/jdh-algo/MedRealMM.
arXiv:2607.09449v2 Announce Type: replace
Abstract: Bayesian causal discovery is widely used for its ability to quantify epistemic uncertainty over directed acyclic graphs (DAGs) through posterior inference. However, its behaviour under latent confounding remains poorly understood, as existing work typically notes that confounding breaks identifiability without characterising how the posterior distribution over DAGs responds. In this work, we analyse posterior behaviour under latent confounding in linear Gaussian causal models, focusing on additive latent confounding between exactly two observed variables. We derive a critical correlation threshold above which the score function favours graphs with a spurious edge between the confounded variables, and show that this threshold decreases with sample size -- more data lowers the correlation required for the spurious edge to be favoured. Beyond this threshold, we characterize two distinct posterior failure regimes determined by the local structure around the confounded variables. Our findings are supported by exact posterior computations on multiple graph structures, demonstrating both the predicted failure regimes.
arXiv:2607.15156v1 Announce Type: new
Abstract: Frailty assessments are crucial to evaluate the risk of adverse events and the health and social care needs of older adults, yet their administration remains resource-intensive and typically relies on coarse clinical outcomes, such as task completion times, which may overlook biomechanical indicators of functional decline. To address this, we present a robotic framework that guides older adults through standardised frailty and fall-risk tests while capturing clinical scores and additional frailty-related metrics, offering a deeper insight into a user's condition. The system uses a Behaviour Tree architecture that coordinates perception, decision-making, interaction, and measurement modules. Using vision-based skeleton tracking, the robot evaluates established clinical tests, including the Short Physical Performance Battery (SPPB) and the Timed Up and Go (TUG). The framework was co-designed with healthcare professionals and evaluated in situ during six months in a rehabilitation centre's research lab with N=81 older adults. Robot-derived measurements were compared against therapist assessments and clinical reference instruments, including a gait analysis walkway and an inertial measurement unit (IMU). Results showed excellent agreement for most test completion times and gait-related parameters ($ICC > 0.9$). And, substantial agreement for the overall SPPB score comparing the robot and the therapist ($k = 0.67$) and moderate agreement comparing the robot and the IMU ($k=0.55$). The findings highlight that social robots can provide reliable and objective frailty assessments in healthcare settings while enabling the collection of relevant mobility indicators beyond conventional outcomes.
arXiv:2607.14528v1 Announce Type: new
Abstract: Large language models (LLMs) frequently contradict themselves when the surface form of a logically equivalent question changes. We present a benchmark of 350 question families (1,750 total questions) for Controlled Reformulation Testing (CRTBench) to evaluate logical invariance. In this benchmark, we investigate LLMs' ability to maintain consistent answers across controlled reformulations, which include contrapositive rewriting, double negation, negation flipping, and passive voice. We evaluate several frontier LLMs and observe an accuracy-consistency gap where GPT-5.4-mini achieves $98.9\%$ base accuracy but only $60.3\%$ family-level consistency, while reasoning-optimized o4-mini achieves $96.9\%$ consistency. From our experiments, we observe that failures cluster around logically nontrivial transformations such as contrapositive rewriting ($72.4\%$ for GPT-5.4-mini) and double negation ($84.6\%$), while surface-level rephrasing remains robust ($94-100\%$). Increasing reasoning effort improves GPT-5.4-mini to $85.4\%$ consistency, but leaves GPT-5.4 unchanged overall because gains on nested negation are offset by failures on quantifier families. These results show that accuracy alone is not enough for evaluating logical reasoning in LLMs.
arXiv:2607.14542v1 Announce Type: new
Abstract: Semantic 3D city models provide rich geometric and semantic information, but remain challenging for non-experts and interdisciplinary researchers to access and query due to their complex structures and specialized data formats. To address this issue, we present CityLLM, a framework for natural-language querying of semantic 3D city models alongside complementary urban datasets. The framework combines spatial and graph databases within an LLM-based workflow that supports iterative query refinement and cross-database chaining. We evaluate CityLLM on a CityJSON dataset of Rotterdam (853 LoD2 buildings) using GPT-OSS, Gemini 3.1, and GPT-5.4, along with selected variants, across multiple metrics: answer correctness, visualization correctness, query success, and retry attempts. A total of 54 natural-language queries are curated across four scenarios: spatial, graph, cross-database, and conversational. Results show strong overall performance, with answer correctness ranging from 85.2% to 100%, visualization correctness from 92.9% to 100%, a 100% query success rate, and fewer than three retries across all 54 queries. Overall, the findings suggest that CityLLM provides a lightweight and extensible approach for conversational access to semantic 3D city data.
arXiv:2607.14146v1 Announce Type: new
Abstract: Tokamak--stellarator hybrids seek to combine tokamak-like compactness and confinement with stellarator-like externally generated rotational transform and steady-state operation. In this work, we build on the recent tokamak--stellarator hybrid study using planar dipole-field coils (PDCs) [Yu et al., arXiv:2605.03599], in which the fixed-position, programmable coils on an axisymmetric winding surface generate flexible three-dimensional shaping fields. Using single-stage free-boundary optimization of coil currents and plasma-equilibrium parameters, we construct vacuum and finite-$\beta$ configurations. The vacuum cases show controllable external transform and magnetic well. The finite-$\beta$ cases accommodate various density, temperature, and pressure profiles, producing quasi-axisymmetric (QA) equilibria with self-consistent bootstrap current, favorable Mercier stability, and reduced demand for external current drive. Re-optimization enables $\beta$ ramp-up and access to different field-period QA branches with moderate coil-current changes. At large rotational transform, a toroidally omnigenous (TO)-like configuration exhibits more favorable infinite-$n$ ideal-ballooning behavior than a QA reference with matched profiles, even though ballooning stability is not directly optimized for. These results demonstrate that PDCs provide a flexible platform for achieving optimized finite-$\beta$ hybrid configurations.
arXiv:2607.14200v1 Announce Type: new
Abstract: Imitation learning is an appealing way to scale game-playing agents to complex 3D environments by training policies to map visual observations to actions from human demonstrations. However, these demonstrations are expensive to collect and modern game-playing is often done through streaming in which network delay and compression introduce spatiotemporally correlated visual artifacts that can cause a covariance shift at test time. To address these challenges, we propose streaming augmentations that mimic four types of artifacts commonly encountered during streaming with low-bandwidth network connection: pixelated blocks and scrubs, global blur, and ghosting. We instantiate our approach on top of predictive inverse dynamics models (PIDM), which combine future-state conditioning with an inverse dynamics policy in a learned latent space, and evaluate the impact of our augmentations across three tasks in modern 3D video games. Under stable streaming conditions, agents trained with spatiotemporal augmentations achieve up to 41% higher evaluation performance compared to agents trained without augmentations under an identical data budget. When network lag is introduced, agents trained with augmentations degrade by only 7.45% vs 49.82% of the original performance for agents trained only with the original data. These results clearly indicate that spatiotemporal augmentations tailored for the streaming setting are a simple yet powerful tool to train robust and efficient game-playing agents.
arXiv:2607.14710v1 Announce Type: new
Abstract: The bird's eye view (BEV) has emerged as a pivotal approach for environmental perception in autonomous driving, providing a unified spatial representation for vehicles. Nevertheless, despite BEV's significance in addressing the challenges inherent to autonomous driving, effectively fusing data from multiple camera sensors and operating in complex external driving environments remains a considerable challenge. To mitigate this issue, we recast the BEV segmentation problem within a variational inference framework. In this paper, we propose a novel transformer-based variational flow transformation network for BEV segmentation, denoted as TVB. Our architecture implicitly learns the mapping from multiple camera views to a unified canonical BEV map during training by exploiting posterior BEV supervision. TVB employs a conditional variational auto encoder (CVAE) as its backbone and produces multiple BEV map candidates. To augment the realism of the generated BEV maps, we integrate normalizing flows into the map generation process, enabling the construction of more complex and expressive probability distributions. Furthermore, we design a BEV-attention fusion (BAF) module that harnesses attention mechanisms to adaptively integrate the multiple candidate BEV maps. Experimental results, evaluated on both the nuScenes and OPV2Vdatasets, demonstrate that our proposed method achieves superior performance in multi-camera view BEV segmentation and lane environment perception.
arXiv:2607.09815v2 Announce Type: replace
Abstract: A central challenge in image-goal UAV navigation under Global Navigation Satellite System (GNSS) denial is estimating metric distance and heading between current and goal views. Dense pairwise geometry models capture relative scene structure, but without a calibrated metric scale, they cannot directly provide reliable distance estimates for navigation. Although global scale calibration corrects the dominant scale bias, the remaining errors vary systematically with distance. In this paper, Range-Aware Scale Recovery (RASR) is proposed, which complements global scale calibration with range-aware residual correction. RASR encodes pairwise geometry extracted by a frozen Matching And Stereo 3D Reconstruction (MASt3R) backbone as a compact descriptor and separates the scale-recovery core from task-specific command calibration. On the official online evaluation of the UAVs in Multimedia 2026 PairUAV challenge, RASR achieved a total error of 0.003189, achieving a lower total error than global scale calibration alone. The results demonstrate that range-aware residual correction improves metric distance estimation beyond global scale calibration. Code and materials are available at https://github.com/lht-research/rasr-pairuav.
arXiv:2607.10132v2 Announce Type: replace
Abstract: Dynamic loco-manipulation requires legged robots to coordinate whole-body motion while maintaining stable physical interaction with grasped objects under uncertain external forces. While tactile sensing has been widely studied for robotic manipulation, its role in dynamic whole-body control remains largely unexplored. Existing works without tactile feedback commonly grasp firmly rather than regulate the grasp according to the interaction. We propose TAC-LOCO, a tactile-augmented unified reinforcement learning framework that encodes tactile array observations from compliant grippers into a compact latent representation and joins it with proprioception for unified control of the legs, arm, and gripper. With effective grasp stability reward design, the policy learns to simultaneously track body velocity and end-effector trajectories, moderate grasp force, and prevent object slip under both gradual load changes and sudden release events. We deploy the policy zero-shot on a Unitree Go2 with an Interbotix WidowX 250 arm and tactile gripper, demonstrating dynamic tactile-informed loco-manipulation under varying external interactions, achieving a 47% reduction in grasping force and an object drop rate of less than 1%.
arXiv:2607.10255v2 Announce Type: replace
Abstract: Min-wise hashing and its $k$-min-wise variant are standard tools in similarity estimation, sampling, sketching, and streaming. A $k$-min-wise family requires every prescribed $r$-subset of a fixed set, for $r\le k$, to appear as the $r$ smallest hash values with approximately the fully random probability, up to multiplicative error $\delta$. Previous analyses show that $O(\log(1/\delta)+k\log\log(1/\delta))$-wise independence suffices. Consequently, for $k=\Theta(\log N)$ and $\delta=N^{-c}$, the standard polynomial construction uses $O(k\log N\log\log N)$ seed bits. Recent work of Chen, Huang, and Li achieves the optimal $O(k\log N)$ seed length for $k=\log^{O(1)}N$, but only with almost-polynomial error $2^{-O(\log N/\log\log N)}$, leaving open whether polynomially small error is possible with the same seed length. We prove that the standard $s$-wise independent polynomial hash family is $k$-min-wise with multiplicative error $\delta$ for $s=O(k+\log(1/\delta)).$ Thus, when $k=\Omega(\log(1/\delta))$, only $O(k)$-wise independence is required. In particular, for $k=\Theta(\log N)$ and $\delta=N^{-c}$, this gives an explicit family with seed length $O(k\log N)$, matching the support-size lower bound up to constant factors. The proof conditions on the prescribed bottom set and bounds the error only after averaging over the random threshold given by its largest hash value, rather than controlling every threshold separately.
arXiv:2607.14406v1 Announce Type: new
Abstract: Pujol and Desfontaines asked whether a private histogram can allow more error on larger counts and use that slack to protect members of larger groups more strongly. We study this question for fixed disjoint groups under add-or-remove-one adjacency. The privacy budget $v(n)$ depends on the affected count, is nonincreasing, and must bound both R\'enyi-divergence directions at every order. This is the count-dependent form of zero-concentrated differential privacy (zCDP) studied here. The original strict relative-error condition is impossible at count zero. We therefore make the boundary tolerance explicit by requiring $\mathbb{E}\lvert\widehat{x}_i-x_i\rvert < r\max\{x_i,1\}$, without changing the requirement at any positive count. Our main result determines the best dependence on group size. For the upper bound, we directly specialize an existing shifted-transformation framework. The resulting shifted-log Gaussian mechanism has a certified budget $v(n)=O_r(n^{-2})$. Conversely, for every fixed $0<r<1$, any mechanism satisfying the same positive-count utility requirement and count-dependent zCDP must have $v(n)=\Omega_r(n^{-2})$. Thus the inverse-square rate is optimal under the repaired formulation. A many-count information argument further places the leading coefficient in the large-count-then-small-error limit between $\pi/(4e^2)$ and $1/\pi$, a factor below three. At $r=1$, a data-independent release meets the repaired criterion with zero privacy loss.
arXiv:2607.12121v2 Announce Type: replace
Abstract: Diffusion models have become the central backbone for modern image, video, and audio generation, but their efficient service remains a challenge. Unlike autoregressive decoding, diffusion inference repeatedly updates high-dimensional spatial or temporal latents over many denoising steps. This all-region execution pattern makes generation latency high and limits serving throughput. Existing multi-GPU parallelization methods can reduce per-step computation, but often introduce substantial activation exchange overhead, causing communication to offset or even outweigh the benefits of parallel execution.
This paper presents FlashDiff, a diffusion serving system that improves inference efficiency through adaptive regional execution and scheduling. FlashDiff is based on the observation that diffusion refinement is not uniform across latent regions or denoising steps: different regions often stabilize at different rates, while neighboring steps exhibit strong temporal correlation. FlashDiff leverages these properties to selectively execute only regions that require further refinement and to reallocate the resulting compute slack across concurrent serving requests. FlashDiff consists of three mechanisms. First, it decomposes the latent representation into coherent execution regions using early-stage attention signals, preserving semantic structure while exposing fine-grained parallelism. Second, it uses a lightweight runtime controller to estimate region activity and bypass low-impact updates when further refinement is unlikely to affect output quality. Third, it applies an affinity-aware online scheduler that co-locates dependent regions, balances residual load across GPUs, and reuses reclaimed compute capacity to improve serving efficiency. Across real-world image, video, and audio workloads, FlashDiff reduces end-to-end serving latency by 30-97% and improves throughput by 1.2-2.2x.