arXiv:2607.08234v1 Announce Type: new
Abstract: Real-world time series exhibit complex dynamics characterized by multiple simultaneous temporal patterns: short-term fluctuations, periodic seasonal cycles, long-term trends, and irregular abrupt changes. However, many existing forecasting architectures rely on single-path temporal modeling--transformers capture long-range dependencies but smooth local variations, convolutions capture local patterns but have limited receptive fields, and linear models are efficient but cannot capture nonlinear dynamics. To address this, we introduce RhyMix (RHYthm MIXture), a hybrid neural architecture designed around a parallel dual-path modeling paradigm with adaptive gating mechanisms. RhyMix integrates two complementary encoding branches: (i) a Cyclic Path that incorporates explicit seasonal inductive bias through learnable cyclic embeddings, capturing predictable rhythmic patterns; and (ii) a lightweight Multi-Scale Temporal Convolutional Network with Channel Attention Path that employs multi-scale depthwise dilated convolutions to capture temporal dependencies across different receptive fields. A key innovation is the use of adaptive gating at multiple levels: a path gate dynamically combines four specialized forecasting heads (Direct, Trend-Seasonal Decomposition, Local Convolution, and Periodic Fusion) per sample and channel, while a hybrid gate adaptively balances the Cyclic and MSTCN-CA Paths based on input characteristics. This design ensures the model adapts to specific temporal patterns while maintaining linear complexity in sequence length, channels, and prediction horizon. Across extensive benchmarks on 12 real-world datasets for long-term forecasting, RhyMix achieves state-of-the-art performance on 10 of 12 datasets. The model remains lightweight (~40K params) with linear complexity and low-latency inference (<5ms),suitable for resource-constrained edge devices and real-time deployment.
Science Journals
arXiv:2607.08236v1 Announce Type: new
Abstract: Event-based lip reading has recently emerged as a promising direction for visual speech recognition, benefiting from the high temporal resolution and motion sensitivity of event cameras. However, existing methods typically perform spatial compression before sufficient temporal modeling, which may suppress sparse and localized motion trajectories that are crucial for distinguishing similar lip movements. Moreover, most current approaches optimize temporal representations mainly at the word-classification level, leaving the underlying articulatory structure weakly constrained. To address these limitations, we propose a temporally enhanced framework for event-based lip reading. First, we introduce Trajectory-Aware Differential Aggregation (TDA), which performs local temporal modeling at each spatial location before adaptive spatial aggregation. Second, we propose Viseme-Guided Aggregation (VGA), a unified temporal module composed of a CTC decoder and a viseme-guided gated aggregation branch, which injects viseme-aware sequence supervision and improves final temporal aggregation for word recognition. Third, we incorporate an EMA teacher--student training strategy to enhance robustness under strong event perturbations. Experiments on the DVS-Lip benchmark verify the effectiveness of the proposed design, and extensive ablation studies further validate the contributions of TDA, VGA, and teacher--student consistency. Qualitative decoding results also demonstrate that the proposed CTC-based temporal modeling learns meaningful viseme-aware structure from event streams.
arXiv:2607.08259v1 Announce Type: new
Abstract: We introduce two novel distances for comparing rooted phylogenetic networks based on the $\ominus$-operator, which removes a vertex while preserving the ancestor relations among the remaining vertices. The distance $d_{\ominus}$ measures the minimum number of such removals needed to obtain isomorphic networks, whereas $d_{\ominus}^-$ ignores shortcut arcs and therefore compares the induced ancestry structures. We show that $d_{\ominus}$ is a metric up to leaf-fixing isomorphism and that $d_{\ominus}^-$ is a metric up to shortcut-free isomorphism. Moreover, both distances extend the Robinson--Foulds distance on phylogenetic trees and are bounded below by the hardwired cluster distances. For several broad network classes, including tree-child, normal, level-$1$, and regular networks, $d_{\ominus}^-$ can be computed in polynomial time. In contrast, computing $d_{\ominus}$ is NP-hard, W[2]-hard when parameterized by the distance value, and admits no polynomial-time constant-factor approximation unless $\mathrm{P}=\mathrm{NP}$. Although computing $d_{\ominus}^-$ is NP-hard in general, for distinct-cluster networks it reduces to \textsc{Vertex Cover}, yielding a fixed-parameter algorithm and a polynomial-time $2$-approximation.
arXiv:2607.08269v1 Announce Type: new
Abstract: Existing retrieval-augmented generation (RAG) systems treat web pages as flat text, losing the structural and semantic signals encoded in HTML. We present PolyUQuest, a verifiable, structure-aware web RAG framework built on a heterogeneous graph that unifies hyperlink topology between pages, DOM hierarchy within pages, and entity-relation knowledge across pages. A two-tier router dispatches each query to one of three retrieval modes matched to its structural need, including direct block retrieval, cross-page graph traversal, and multi-hop entity reasoning. Every answer is fully verifiable, as each cited block carries its source page, heading path, and entity links so that users can trace any claim back to its structural evidence. We evaluate on the official websites of the Hong Kong Polytechnic University (PolyU), comprising 4,240 pages, 31,086 DOM blocks, 29,119 entities, and 37,680 relations, together with a multi-type evaluation benchmark. PolyUQuest outperforms existing RAG systems in answer correctness, coverage, and faithfulness, while consuming significantly fewer LLM tokens per query. The demonstration provides an interactive interface for inspecting cited answers, comparing retrieval traces across routing modes, and exploring evidence graph paths. PolyUQuest is being prepared for deployment as a student-facing QA service at PolyU.
arXiv:2510.12857v2 Announce Type: replace
Abstract: Large language models (LLMs) are now widely deployed in user-facing applications, reaching hundreds of millions of users worldwide. Despite their widespread adoption, growing reliance on their outputs raises significant concerns, particularly as users may be exposed to model-inherent biases that disadvantage or stereotype certain groups. However, existing bias benchmarks commonly rely on simple templated prompts or restrictive multiple-choice questions that fail to capture the complexity of real-world user interactions. In this work, we address this gap by introducing a counterfactual framework that automatically generates realistic, open-ended questions for LLM bias evaluation. Through iterative question mutation, our approach systematically explores areas where models are most likely to exhibit biased behavior. Beyond just detecting harmful biases, we also capture increasingly relevant response dimensions, such as asymmetric refusals and explicit bias acknowledgment. Building on this, we construct CAB, a diverse and human-verified benchmark for realistic and nuanced bias evaluations on current frontier LLMs. Our evaluation using CAB highlights the continued need for fairness research by showing that all examined models exhibit persistent biases across certain scenarios.
arXiv:2511.03075v2 Announce Type: replace
Abstract: The safe deployment of autonomous systems in safety-critical settings requires a paradigm that combines human expertise with AI-driven analysis, especially when anomalies are unforeseen. We introduce AURA (Autonomous Resilience Agent), a collaborative framework for anomaly and fault diagnostics in robotics. AURA integrates large language models (LLMs), a high-fidelity digital twin (DT), and human-in-the-loop interaction to detect and respond to anomalous behavior in real time. The architecture uses two agents with clear roles: (i) a low-level State Anomaly Characterization Agent that monitors telemetry and converts signals into a structured natural-language problem description, and (ii) a high-level Diagnostic Reasoning Agent that conducts a knowledge-grounded dialogue with an operator to identify root causes, drawing on external sources. Human-validated diagnoses are then converted into new training examples that refine the low-level perceptual model. This feedback loop progressively distills expert knowledge into the AI, transforming it from a static tool into an adaptive partner. We describe the framework's operating principles and provide a concrete implementation, establishing a pattern for trustworthy, continually improving human-robot teams.
arXiv:2511.07624v3 Announce Type: replace
Abstract: Markerless motion tracking has advanced rapidly in the past 10 years and currently offers powerful opportunities for behavioural, clinical, and biomechanical research. While several specialised toolkits provide high performance for specific tasks, using existing tools still requires substantial technical expertise. There remains a gap in accessible, integrated solutions that deliver sufficient tracking for non-experts across diverse settings.
TrackStudio was developed to address this gap by combining established open-source tools into a single, modular, GUI-based pipeline that works out of the box. It provides video recording preprocessing, recording synchronisation, automatic 2D and 3D pose estimation, and visualisation without requiring any programming skills. We supply a user guide with practical advice for video acquisition, camera calibration, video synchronisation, and experimental setup, alongside documentation of common pitfalls and how to avoid them.
To validate the toolkit, we tested its performance across three environments using either low-cost webcams or high-resolution cameras, including challenging conditions for body position, lighting, space, and obstructions. Across 76 participants, average inter-frame correlations exceeded 0.98 and average triangulation errors remained low (<13.6mm for hand tracking), demonstrating stable and consistent tracking. We further show that the same pipeline can be extended beyond hand tracking to other body and face regions. TrackStudio provides a practical, accessible route into markerless tracking for researchers or laypeople who need reliable performance without specialist expertise.
arXiv:2607.08284v1 Announce Type: new
Abstract: Large language models (LLMs) have demonstrated rapidly improving long-context capabilities, prompting a wave of benchmarks designed to evaluate them. However, existing long-context evaluations - from Needle-in-a-Haystack (NIAH) tests to more recent multi-hop reasoning and summarization tasks - predominantly measure average-case performance, and many are either saturated or lack robustness. Notably absent is a systematic way to probe how models perform as we scale up the difficulty of tasks along various axes. We address this gap by proposing PredicateLongBench, a benchmark that stress-tests long-context reasoning by asking models to identify the longest contiguous subsequence of words in a long input that satisfies given predicates/constraints (e.g., lexicographic ordering), drawn from a broader predicate class. The central innovation of our benchmark is the identification and systematic exploration of multiple different axes of difficulty which test multiple aspects of long context understanding. We provide two complementary generation pipelines - a fully synthetic setup using random word-like strings, and a real-world setup that samples words from natural documents while preserving their distributional properties. We find that frontier models struggle to perform well as we scale up the difficulty of tasks along our axes, demonstrating the utility of our benchmark in understanding the limitations of current long-context capabilities. Furthermore, the tasks in PredicateLongBench, though challenging, are conceptually simple and do not require LLM-based generations or judges.
arXiv:2607.08285v1 Announce Type: new
Abstract: Current AI evaluation frameworks focus primarily on technical performance, including accuracy, robustness, reasoning ability, and policy compliance. These measures remain essential, but they are not sufficient for systems that interact directly with users through natural language. Human-facing AI systems are increasingly used as advisors, coaches, tutors, and companions. In these roles, their responses can shape how users reason, interpret emotions, form beliefs, calibrate trust, and make decisions. The relevant unit of evaluation is therefore not only the model, but the human-AI interaction. This paper introduces psychological competence as a missing dimension in AI evaluation. We define psychological competence as the capacity of a human-facing AI system to support user cognition, emotional interpretation, and behavioral decision-making in ways that are appropriate to the user, context, and purpose of the interaction. This includes interaction properties such as framing, tone, perceived authority, responsiveness, uncertainty handling, and conversational guidance. Existing evaluation approaches capture parts of this problem but rarely assess these psychological effects directly. Drawing on behavioral science and human-AI interaction research, we outline a conceptual framework for psychological competence and its core domains. Rather than proposing a specific benchmark, we define the construct, clarify its boundaries, and describe how it may be assessed through scenario-based probes, structured human evaluation, and model-assisted evaluation methods. We argue that psychological competence should become a core consideration for model providers, deploying organizations, researchers, and regulators concerned with the real-world effects of human-facing AI systems.
arXiv:2607.08409v1 Announce Type: new
Abstract: LLM-based ASR adapted to regulated domains such as banking is bottlenecked by privacy: real speech is costly and legally constrained to collect, making synthetic text-to-speech (TTS) an attractive substitute. Yet synthetic speech stays acoustically mismatched with real recordings, and work on this gap has stayed within supervised fine-tuning (SFT). We instead turn to reinforcement learning, and show that Group Relative Policy Optimization (GRPO) extracts far more from the same synthetic speech than SFT. Synthetic-only adaptation of the model with GRPO, a critic-free method rewarding low-WER hypotheses, reduces WER by 40\% relative to SFT (36.71\%$\to$22.09\%), and an SFT-then-GRPO combination pushes this further to 45\%. We trace the gain to behavior rather than representation: GRPO reduces insertion errors by improving stopping calibration and speech-to-text alignment by better anchoring attention to audio, leaving early-layer representations intact. When synthetic speech is the main resource, reinforcement learning should be preferred over supervised fine-tuning.
arXiv:2607.08417v1 Announce Type: new
Abstract: A Ladder Logic Bomb (LLB) is malicious control logic in a Programmable Logic Controller (PLC) program that lies dormant until a trigger activates a payload to manipulate actuators, forge sensor readings, or deny operator control. We observe that real malicious logic hides inside function-block bodies, which existing ladder-diagram verifiers drop from their intermediate representation (IR), making bombs invisible to provers. We present ESBMC-LLB, which uses ESBMC-PLC+ as its verification engine and adds a modeling layer that exposes function-block logic and recasts bomb detection as a formal verification problem: a scan-watchdog exposes non-termination payloads, and output wiring exposes actuator-forgery payloads as safety violations. k-induction gives an unbounded proof of bomb-absence across all scans, and the bounded model checker returns a counterexample that is the trigger - guarantees that signature, anomaly, and CFG-triage detectors lack. On the public Iacobelli 2024 dataset, ESBMC-LLB detects all 30 bombs and recovers every trigger; it also detects adaptive triggers (computed, opaque-arithmetic, multi-scan) that evade CFG-triage. We also report the first semantic model-checker evaluation on PLC-Defuser's SWaT corpus: our analog extension makes the full corpus parseable; on v1.0.0, it detects 149/150 bombs (99%) with zero false positives, recovering each trigger; on a later version with nonlinear non-termination bombs, detection drops to 49% as the SMT solver times out. We conclude that semantic model checking and CFG-triage are complementary - the former gives unbounded proofs, adaptive-trigger robustness, and handles Boolean/integer and linear analog logic; the latter leads to nonlinear analog non-termination, and we delineate where each wins.
arXiv:2512.12650v2 Announce Type: replace
Abstract: Objectives. Software engineering educators strive to continuously improve and refine their courses and programs. Understanding the current state of practice of software engineering higher education can empower educators to critically assess their courses, fine-tune them, and ultimately enhance their educational curricula. In this study, we provide an encompassing analysis of higher education on software engineering by considering the educational offering of the Netherlands.
Study methods. We adopt a crowdsourced analysis considering 10 Dutch universities and 207 courses. Courses are analysed via a set of key knowledge areas adapted from the SWEBOK, which are mapped to courses by educators of their universities. The mapping process is refined via homogenisation and internal consistency improvement phases, followed by a data analysis phase.
Findings. Given its fundamental nature, Construction and Programming is the most covered knowledge area at Bachelor level. Other knowledge areas are equally covered at Bachelor and Master level (e.g., software engineering models), while more advanced ones are almost exclusively provided at Master level (e.g., Maintenance). Three clusters of tightly coupled knowledge areas emerge: (i) requirements, architecture, and design, (ii) testing, verification, and security, and (iii) process-oriented and DevOps topics. Dutch universities cover all knowledge areas uniformly, with minor deviations reflecting institutional research strengths.
Conclusions. Our results highlight correlations among key software engineering knowledge areas. We also identify underrepresented areas, such as software economics, which educators may consider including in curricula. We invite researchers to make use of our research method in their own geographical region to globally compare software engineering education programs.
arXiv:2512.14236v2 Announce Type: replace
Abstract: The growing demand for immersive 3D content calls for automated monocular-to-stereo video conversion. We present Elastic3D, a controllable, direct end-to-end method for upgrading a conventional video to a binocular one. Our approach, based on (conditional) latent diffusion, avoids artifacts due to explicit depth estimation and warping. The key to its high-quality stereo video output is a novel, guided VAE decoder that ensures sharp and epipolar-consistent stereo video output. Moreover, our method gives the user control over the strength of the stereo effect (more precisely, the disparity range) at inference time, via an intuitive, scalar tuning knob. Experiments on three different datasets of real-world stereo videos show that our method outperforms both traditional warping-based and recent warping-free baselines and sets a new standard for reliable, controllable stereo video conversion. Please check the project page for the video samples https://elastic3d.github.io.
arXiv:2607.08430v1 Announce Type: new
Abstract: Nonlinear metasurfaces have attracted significant interest by offering the possibility to circumvent conventional phase-matching requirements of bulk nonlinear crystals, opening the way to efficient frequency conversion over ultrashort propagation distances. Here, we experimentally demonstrate metasurfaces in which second-harmonic generation is strongly enhanced by in-plane phase matching of high-Q guided-mode resonances. To achieve this enhancement, we use hybrid metasurfaces composed of periodic arrays of gold nanodiscs on a slab waveguide made of aluminum indium phosphide (AlInP) - a low-loss epitaxial III-V semiconductor material. The metasurfaces are found to exhibit guided-mode resonances with Q factors exceeding 400 and 900 at the visible and near-infrared wavelengths, respectively, demonstrating the unique capabilities of hybrid metal-dielectric structures to support high-Q resonances despite the presence of lossy plasmonic components. Moreover, our frequency and momentum-resolved measurements demonstrate a two-orders-of-magnitude enhancement of second-harmonic generation at doubly resonant conditions. We reproduce the experimental results using numerical simulations, showing that the in-plane phase matching and spatial mode overlap are the main factors governing the enhancement. Our findings demonstrate a promising strategy to realize efficient metasurface-based frequency converters, enabling their potential applications in compact photonic systems.
arXiv:2607.08769v1 Announce Type: new
Abstract: Scaling 3D Gaussian Splatting (3DGS) to large outdoor scenes is costly in both data acquisition and computation. Adopting panoramic images with equirectangular projection (ERP) can reduce capture effort via their full $360^{\circ}$ field of view, yet the resulting omnipresent visibility invalidates existing partitioning strategies that rely on local camera frustums, causing block-wise optimization to degenerate into global training. Thus, we propose PanoLOG, a two-stage coarse-to-fine framework equipped with a Geometry and Gradient-based Partitioning Strategy tailored for large-scale panoramic 3DGS reconstruction. In the global coarse stage, PanoLOG leverages sky-sphere modeling and panoramic monocular depth supervision for reliable geometry, while in the refinement stage, G$^2$PS builds adaptive bounding volumes via parallax-driven uncertainty and assigns cameras via gradient-based importance scoring. Furthermore, we construct Pano360, the first benchmark on large-scale panoramic dataset for outdoor scene reconstruction. Extensive experiments demonstrate that G$^2$PS achieves state-of-the-art rendering quality while maintaining scalable, block-parallel training. Our models, training code, and dataset are publicly available.
arXiv:2607.07769v1 Announce Type: new
Abstract: Starting from the utilization of deep neural networks to approximate the state-action value function that led to winning one of the most challenging games, to algorithmic advancements that allowed solving problems without even explicitly stating the rules of the challenge at hand, reinforcement learning research has been the center of remarkable scientific progress for the past decade. In this paper, we focus on the key ingredients of this research progress and we analyze the canonical evaluation and design paradigms in reinforcement learning. We introduce the theoretical foundations of scaling laws in reinforcement learning and show that the asymptotic performance of reinforcement learning algorithms does not have a monotone relationship between performance rankings and data-regimes. We conduct large-scale experiments and our results demonstrate that a line of reinforcement learning research under the canonical design and evaluation paradigms resulted in incorrect conclusions. Our analysis and results provide a core analysis on scaling, capacity and complexity of deep reinforcement learning.
arXiv:2607.08313v1 Announce Type: new
Abstract: Randomized Kaczmarz is a natural fit for large sparse least-squares and tomographic reconstruction, and adaptive row selection can reduce iteration counts. However, deploying adaptive selection on a shared-memory machine means sampling from a residual that lock-free workers are concurrently modifying, often using stale data. We present the first systematic study of this regime: residual-weighted and greedy Kaczmarz under asynchronous execution, measured across 339 runs on a 96-core node with realized (not injected) delays. Four findings carry directly to practice. (i) Stability is governed by a boundary $\ell^*(T)$ between sampling aggressiveness and thread count; below it, more aggressive sampling is strictly better, so one should tune to just inside the cliff. (ii) Threshold-greedy selection (the standard accelerated rule) is unstable at high thread counts, diverging almost immediately. (iii) Under-relaxation buys back the cliff at a predictable cost, giving a usable safety knob. (iv) Consistent-snapshot reads admit a rare, scheduling-dependent divergence that live (inconsistent) reads never exhibited and that is also cheaper, making inconsistent reads the right default. We validate the implementation against published sequential results and outline the distributed two-level sampler these measurements motivate.
arXiv:2601.08335v3 Announce Type: replace
Abstract: This paper presents finite-time and fixed-time stabilization results for inhomogeneous abstract evolution problems, extending existing theories. We prove well-posedness for strong and weak solutions, and estimate upper bounds for settling times for both homogeneous and inhomogeneous systems. We generalize finite-dimensional results to infinite-dimensional systems and demonstrate partial state stabilization with actuation on a subset of the domain. The interest of these results are illustrated through an application of a heat equation with memory term.
arXiv:2607.07829v1 Announce Type: new
Abstract: Nonlinear convection--diffusion systems play a central role in transport phenomena, including mass transfer, heat transfer, porous-media transport, and coupled continuum processes with source, exchange, and interface effects. In such systems, the key question is often not only which governing partial differential equation is used, but whether the model preserves a consistent thermodynamic balance under the operations that arise naturally in transport analysis: restriction to subdomains, coupling across interfaces, linearization near equilibrium, and discretization for computation.
This paper develops a continuum-first framework for open nonlinear convection--diffusion systems in which thermodynamic consistency is formulated as a free-energy balance with nonnegative bulk dissipation and explicit boundary and source contributions. Within this setting, nonlinear transport systems are defined as structured objects built from admissible state fields, storage functionals, constitutive flux decompositions, sources, and boundary ports. We prove that the thermodynamic balance is preserved under exact structure-preserving transformations, restriction to subdomains, local-to-global reconstruction over compatible domain decompositions, and power-conserving interconnection of open subsystems. We then derive classical linear convection--diffusion models as tangent thermodynamic descendants at equilibrium and show that the same invariant survives weak formulation, semidiscretization, and fully discrete time stepping when the numerical design respects thermodynamic structure. Nonlinear drift--diffusion and porous-medium convection--diffusion are used as explicit examples. The resulting contribution is a compositional transport framework in which the second law remains visible across continuum modeling, subsystem coupling, linear approximation, and computation.
arXiv:2607.07859v1 Announce Type: new
Abstract: Reinforcement learning (RL) research has increasingly shifted focus towards alignment, ensuring agents learn behaviors adhering to human values. While human demonstrations and feedback have proven crucial for alignment, existing approaches predominantly combine these signals using multi-stage pipelines designed for the contextual bandit framing of language generation. Yet little work explores how these complementary inputs can serve as a richer, interconnected signal for single-stage offline training in fully sequential decision-making environments. We propose Feedback Manipulation Regularization (FMR), an algorithm-agnostic method that harnesses evaluative feedback as a corrective signal to improve the alignment of imitation learning policies. We adapt Safety Gymnasium environments to be a principled testbed for alignment evaluation, demonstrating improved aptitude and up to a 98\% reduction in misalignment across a range of imitation learning algorithms. FMR remains robust in limited data regimes, even when learning from scarce aligned and uninformative noisy demonstrations.
arXiv:2408.02379v2 Announce Type: replace
Abstract: Developing and certifying safe - or so-called trustworthy - AI has become an increasingly salient issue, especially in light of upcoming regulation such as the EU AI Act. In this context, the black-box nature of machine learning models limits the use of conventional avenues of approach towards certifying complex technical systems. As a potential solution, methods to give insights into this black-box - devised in the field of eXplainable AI (XAI) - could be used. In this study, the potential and shortcomings of such methods for the purpose of safe AI development and certification are discussed in 15 qualitative interviews with experts out of the areas of (X)AI and certification. We find that XAI methods can be a helpful asset for safe AI development, as they can show biases and failures of ML-models, but since certification relies on comprehensive and correct information about technical systems, their impact is expected to be limited.
arXiv:2408.09591v3 Announce Type: replace
Abstract: Horiyama et al. (AAAI 2024) considered the problem of generating instances with a unique minimum vertex cover under certain conditions. The Minimum Pre-assignment for Uniquification of Minimum Vertex Cover problem (shortly Min PAU-VC) is the problem, for given a graph $G$, to find a minimum set $S$ of vertices in $G$ such that among all minimum vertex covers of $G$, exactly one contains $S$. We show that Min PAU-VC is fixed-parameter tractable parameterized by clique-width, which improves an exponential algorithm for trees given by Horiyama et al. Among natural graph classes with unbounded clique-width, we show that the problem can be solved in linear time on split graphs and unit interval graphs.
arXiv:2607.05544v2 Announce Type: replace
Abstract: Trajectory planning strongly influences tracking accuracy, actuator demand, and overall execution behavior in robotic manipulators. Classical planners such as cubic, quintic, and trapezoidal profiles are widely used for their simplicity and smoothness, yet they remain purely kinematic and ignore system dynamics and control effort during trajectory generation. As a result, nominally smooth trajectories can lead to inefficient nonlinear execution and increased corrective control action. This paper presents a control-aware optimal trajectory planning framework that explicitly incorporates manipulator dynamics and actuator effort within a finite-horizon formulation. A midpoint linearization strategy is introduced to improve approximation accuracy for large point-to-point motions. In contrast to prior comparisons, the proposed approach enables fair, isolated evaluation of trajectory generation effects under identical closed-loop nonlinear execution conditions. To this end, a unified evaluation framework is developed in which all planners are executed under identical nonlinear dynamics, controller structure, and actuator constraints. Simulations on a nonlinear simplified UR5 manipulator show that the proposed approach consistently reduces tracking error, corrective torque, and closed-loop execution cost compared to classical methods, achieving substantial reductions in actuator effort and execution cost across all evaluated scenarios, demonstrating that kinematic smoothness alone does not ensure dynamically efficient execution.
arXiv:2607.07879v1 Announce Type: new
Abstract: Earth system reanalysis datasets are foundational for weather and climate research and provide the gridded training data used by most machine learning weather prediction systems. Here we show results from a prototype system that suggest that machine learning models trained only on Earth system observations can potentially be used to generate multi-decade global reanalyses without using physics-based numerical models. The resulting gridded fields capture large-scale atmospheric structure and variability across multiple timescales, while exhibiting signs of physical coherence in several key dynamical diagnostics. Evaluations of the prototype against held-out independent atmospheric observations indicate that the root mean square vector error of upper-level winds is close to that of ERA5 when compared at a consistent resolution, and that the standard deviation of the error at the surface is between that of 4th- and 5th-generation ECMWF reanalyses (ERA-Interim and ERA5). Furthermore, while traditional reanalysis production is computationally expensive, typically taking several years to produce, the reanalysis presented here was generated during the course of a single working day. These results suggest that observation-trained machine learning models offer a promising new approach for reanalysis production from observations alone.
arXiv:2607.08244v1 Announce Type: new
Abstract: We introduce a distributed computational model referred to as the \emph{uniform port} model. An algorithm operating in this model is defined by means of local automata associated with the ports (a.k.a.\ half-edges) of the input graph. The crux of the uniform port model is that a single constant-size finite automaton is hosted by every port of every graph, making the model \emph{truly uniform}. Moreover, since the new model explicitly supports the assignment of (input and) output labels to the graph's (half-)edges, it facilitates natural formulations of (half-)edge-labeling problems such as maximal matching and sinkless orientation, which are outside the expressivity scope of prior node-centric truly uniform distributed computational models.
The main technical contribution of this paper is the design of efficient (i.e., with poly-logarithmic runtime) \emph{self-stabilizing} uniform port algorithms, operating on general graphs, for various fundamental local symmetry breaking problems, including maximal independent set, maximal matching, sinkless orientation, and maximal node/edge $k$-coloring. While efficient self-stabilizing algorithms for local symmetry breaking problems have been extensively studied in stronger computational models, our work is the first to demonstrate the existence of such algorithms in a truly uniform model.