arXiv:2606.11032v2 Announce Type: replace Abstract: Existing deep learning models for Positron Emission Tomography (PET) image denoising often suffer from severe performance degradation under distribution shifts, fundamentally restricting their robust clinical deployment. This lack of generalization stems from the conventional paradigm of fixed-parameter models that cannot adapt to variations in test data (e.g., dose levels or scanner types) after training. To overcome this limitation and achieve robust generalization, we introduce U-TTT, a novel U-shaped model that integrates Test-Time Training (TTT) layers to dynamically adjust model parameters during inference through self-supervision, thereby adapting to the specific characteristics of each test instance. Furthermore, to comprehensively capture the complex degradations of 3D PET data, U-TTT features a dual-domain adaptation mechanism comprising a Spatial Test-Time Training (S-TTT) layer and a Frequency Test-Time Training (F-TTT) layer. The S-TTT layer captures and corrects spatial structural degradations, while the F-TTT layer suppresses global noise spectra and restores delicate high-frequency details. Extensive experiments demonstrate that U-TTT achieves state-of-the-art PET denoising performance and exhibits superior generalization under challenging distribution shifts, including both unseen dose levels and unseen scanners. Our code will be available at https://github.com/Yaziwel/U-TTT.
Science Journals
arXiv:2606.12569v3 Announce Type: replace Abstract: We present eCREAM-MedCorpus, a new and unique large-scale dataset of clinical notes produced in Emergency Departments of Italian hospitals. The corpus, in its current version, is composed of approximately 4 million clinical notes fully anonymized, covering diverse phases of patient care during the stay in the emergency department. In addition, a subset of about six thousand notes has been manually annotated by clinical experts through a structured Case Report Form (CRF) containing 132 items relevant for two patient situations in emergency departments, dyspnea and loss of consciousness. Items may assume numerical values (e.g., for blood saturation), categorical (e.g., for level of consciousness ), binary (e.g., for presence of traumas), and mixed value types. The annotation process involved multiple clinicians and underwent iterative revision to resolve ambiguities in item formulation, resulting in a richly structured (although high imbalanced) resource. The dataset aims to fill a relevant gap of data able to support both the development and the use of Large Language Models in concrete medical applications. We describe the data collection protocol, the on-site anonymisation pipeline, corpus statistics, and the annotation scheme. Finally, we propose CRF-filling as a novel structured information extraction benchmark, and provide zero-shot baseline resulting from Gemma-27B and MedGemma-27B. To the best of our knowledge, eCREAM-MedCorpus is the largest freely available dataset of clinical notes existing for the Italian language.
arXiv:2606.12742v4 Announce Type: replace Abstract: Wearable healthcare devices are the fastest-growing Internet of Things (IoT) sector. Many automated healthcare services rely on two crucial biological signals, namely ECG and EEG, which reflect the activity of the heart and brain, respectively. Although deep neural networks are considered the primary way to process and analyze these signals, the very tight energy and computational power constraints in wearable devices are far below the computational, energy, and memory bandwidth demands of DNN models, thereby impeding the deployment of deep learning in many practical wearable services. This paper investigates the feasibility of deploying state-of-the-art DNN models in resource-constrained wearable devices. Notably, we explore the trade-off between accuracy and computational complexity of DNNs when parameter quantization and electrode reduction methods are used. Our investigation centers on several state-of-the-art DNN models designed for EEG signal analysis, specifically for detecting epileptic seizures. Our findings demonstrate that, when applied judiciously, these techniques can significantly reduce the complexity of the DNNs under consideration with minimal adverse effects on accuracy. These results reveal the explicit trade-offs between accuracy and complexity reduction encountered when adapting DNN-based online EEG analysis for wearable devices.
arXiv:2606.14048v3 Announce Type: replace Abstract: World action models (WAMs) have recently shown promise in jointly modeling future observations and executable robot actions. However, most existing WAMs still operate in 2D video or latent spaces, where visually plausible rollouts miss the 3D spatial constraints and occluded contact geometry required for precise manipulation. While geometric foundation models offer strong priors for recovering dense 3D structure and motion from visual observations, forcing WAMs to predict the dense 4D representation introduces costly geometric decoding and slows down causal action generation. To address the trade-off, we present WAM4D, a fast 4D world action model that uses lightweight spatial register tokens as training-time future-depth readouts to transfer pretrained geometric priors into a causal video-action transformer, then removes the register branch for lightweight action inference. To prevent non-causal shortcuts, we further design causal mixture attention for the Mixture-of-Transformers (MoT) WAM backbone, defining modality-specific visibility among video, action, and geometry tokens. Comprehensive experiments on RoboTwin 2.0 and challenging real-world manipulation tasks show that WAM4D improves spatial consistency and achieves competitive action prediction while maintaining efficient inference.
arXiv:2508.20735v2 Announce Type: replace Abstract: We study parallel algorithms for the minimisation and equivalence checking of Deterministic Finite Automata (DFAs). Regarding DFA minimisation, we implement four different massively parallel algorithms on Graphics Processing Units~(GPUs). Our results confirm the expectations that the algorithm with the theoretically best time complexity is not practically suitable to run on GPUs due to the large amount of resources needed. We empirically verify that parallel partition refinement algorithms from the literature perform better in practice, even though their time complexity is worse. Furthermore, we introduce a novel algorithm based on partition refinement with an extra parallel partial transitive closure step and show that on specific benchmarks it has better run-time complexity and performs better in practice. In addition, we address checking the language equivalence and inclusion of two DFAs. We consider the Hopcroft-Karp algorithm, and explain how a variant of it can be parallelised for GPUs. We note that these problems can be encoded for the GPU-accelerated model checker \GPUexplore, allowing the use its lockless hash table and fine-grained parallel work distribution mechanism.
arXiv:2601.21738v2 Announce Type: replace Abstract: Evaluation of Image Quality Assessment (IQA) models has long been dominated by global correlation metrics, such as Pearson Linear Correlation Coefficient (PLCC) and Spearman Rank-Order Correlation Coefficient (SRCC). While widely adopted, these metrics reduce performance to a single scalar, failing to capture how ranking consistency varies across the local quality spectrum. For example, two IQA models may achieve identical SRCC values, yet one ranks high-quality images (related to high Mean Opinion Score, MOS) more reliably, while the other better discriminates image pairs with small quality/MOS differences (related to $|\Delta$MOS$|$). Such complementary behaviors are invisible under global metrics. Moreover, SRCC and PLCC are sensitive to test-sample quality distributions, yielding unstable comparisons across test sets. To address these limitations, we propose \textbf{Granularity-Modulated Correlation (GMC)}, which provides a structured, fine-grained analysis of IQA performance. GMC includes: (1) a \textbf{Granularity Modulator} that applies Gaussian-weighted correlations conditioned on absolute MOS values and pairwise MOS differences ($|\Delta$MOS$|$) to examine local performance variations, and (2) a \textbf{Distribution Regulator} that regularizes correlations to mitigate biases from non-uniform quality distributions. The resulting \textbf{correlation surface} maps correlation values as a joint function of MOS and $|\Delta$MOS$|$, providing a 3D representation of IQA performance. Experiments on standard benchmarks show that GMC reveals performance characteristics invisible to scalar metrics, offering a more informative and reliable paradigm for analyzing, comparing, and deploying IQA models. Codes are available at https://github.com/Dniaaa/GMC.
arXiv:2607.06522v1 Announce Type: new Abstract: Vision-language models (VLMs) struggle to generalize in interactive physical reasoning, particularly under unseen tasks and environments. Two key failure modes are prominent: hallucinated chain-of-thought (CoT) reasoning that contradicts physical reality, and misalignment between the model's reasoning and actions. We present VAORA (Visual Action Outcome Reasoning Alignment), a novel reward design that directly addresses both issues. VAORA introduces two complementary rewards: Visual Alignment Reward, which anchors VLM reasoning to the visual context independent of the agent action itself, and Visual-Action Alignment Reward, which grounds reasoning in the visual outcome induced by the model's action. Together, these rewards suppress hallucinated CoT and reduce the gap between reasoning and behavior. To improve training stability, we further employ smooth, dense rewards by estimating success probabilities using a pre-trained in-domain expert agent. Experiments on PHYRE and Virtual Tool support our performances across novel-task and unseen-environment settings, confirming that grounded and generalizable physical intelligence can be induced through VAORA.
arXiv:2607.06171v1 Announce Type: cross Abstract: Let $H$ be an inclusion-free hypergraph on $n$ vertices. A weight assignment $w:[n]\to[d]$ is isolating if there is a unique edge $e$ whose weight $w(e) = \sum_{i \in e} w(i)$ is minimum. We show that the number of isolating weight assignments is at least $$ n\sum_{j=0}^{d-1} j^{n-1}, $$ a bound which is attained with equality by the hypergraph consisting of the $n$ singleton edges. This proves the conjecture stated in Faber & Harris (2018). We also prove the bound for a more general class of edge-weight objectives, including arbitrary edge offsets.
arXiv:2503.09460v2 Announce Type: replace Abstract: The draft candidate European Cybersecurity Certification Scheme for Cloud Services (EUCS) defines security controls that must be associated with measurable metrics to assess compliance. This association process is currently manual, time-consuming, and prone to inconsistencies. In this paper, we propose an automated approach based on Sentence Transformers to associate cloud security controls with quantifiable metrics by leveraging semantic similarity between their textual descriptions. We evaluate our method on a dataset of 70 controls derived from the EUCS framework. The proposed approach outperforms a FastText-based baseline, achieving a conditional Normalized Discounted Cumulative Gain at rank 10 score of 0.640 (+0.146) and improving the standard nDCG@10 score from 0.275 to 0.504. These results demonstrate that contextual embedding models significantly enhance both the likelihood of retrieving relevant metrics and their ranking quality. Our findings highlight the potential of transformer-based methods to support automated, scalable, and more reliable compliance processes in cloud cybersecurity certification.
arXiv:2604.20394v2 Announce Type: replace Abstract: We establish nearly optimal upper and lower bounds for approximating decision tree splits in data streams. For regression with labels in the range $\{0,1,\ldots,M\}$, we give a one-pass algorithm using $\tilde{O}(M^2/\epsilon)$ space that outputs a split within additive $\epsilon$ error of the optimal split, improving upon the two-pass algorithm of Pham et al. (ISIT 2025). Furthermore, we provide a matching one-pass lower bound showing that $\Omega(M^2/\epsilon)$ space is indeed necessary. For classification, we also obtain a one-pass algorithm using $\tilde{O}(1/\epsilon)$ space for approximating the optimal Gini split, improving upon the previous $\tilde{O}(1/\epsilon^2)$-space algorithm. We complement these results with matching space lower bounds: $\Omega(1/\epsilon)$ for Gini impurity and $\Omega(1/\epsilon)$ for misclassification (which matches the upper bound obtained by sampling). Our algorithms exploit the Lipschitz property of the loss functions and use reservoir sampling along with Count--Min sketches with range queries. Our lower bounds follow from careful reductions from the INDEX problem.
arXiv:2606.14948v2 Announce Type: replace Abstract: LLMs have substantially improved software engineering yet real-world development requires architectural understanding. Such understanding is prohibitively expensive to label manually and impossible to verify through tests alone. We propose an agentic judging pipeline using a strong LLM as a scalable proxy for expert architectural evaluation, comprising two judges: the Architecture Complexity Judge (ACJ), which estimates codebase-specific architectural understanding a task demands, and the Architecture Quality Judge (AQJ), which evaluates patch conformance to repository-specific architectural conventions via source-grounded rubrics. Fine-tuning Qwen3-8B/14B/32B on 3,360 curated instances achieves resolved rates of up to 27.2% on SWE-bench Verified - up to 540% over the base model and 256% over unfiltered fine-tuning. Meanwhile, the trained models achieve strong cross-language generalization and consistent improvements in architectural patch quality.
arXiv:2607.06092v1 Announce Type: new Abstract: G.\ D.\ Baker formulated a forcing method to interpret integer optimisation problem into $2$-adic linear regression, and proved the NP-hardness of $2$-adic linear regression. We generalise the forcing method to a wider class of $p$-adic optimisation for the case where $p$ is not necessarily $2$, and prove the NP-hardness of $p$-adic linear regression, the NP-hardness of $2$-adic dynamic neural network by S.\ Albeverio, A.\ Khrennikov, and B.\ Tirrozi, and the NP-hardness of a partial generalisation of the $p$-adic optimisation problem associated to van der Put neural network by G.\ L.\ R.\ N'guessan.
arXiv:2607.05418v1 Announce Type: cross Abstract: In this paper, we study the group randomness of 0-1 real sequences derived from a binary linear code by investigating the spectral behaviour of a suitable normalization of the Gram matrix of a $p \times n$ random matrix whose rows are uniformly drawn from those 0-1 real sequences, where $y=p/n \in (0,1)$ is fixed. We show that as $n \to \infty$, its empirical spectral distribution converges to the Marchenko-Pastur law at a rate at least of the order $n^{-1/4}$ with high probability, and the fluctuation of its largest eigenvalue is asymptotically Gaussian with mean $p+1+y$ and variance $4y$, provided that the dual distance of the code is at least 5.
arXiv:2607.05459v1 Announce Type: cross Abstract: Tractatus Quanticum (arXiv:2512.06034 [quant-ph]) is described by its authors as 'a re-editing, which takes quantum mechanics into account, of Wittgenstein's famous Tractatus.' The original Tractatus appeared with an introduction by Bertrand Russell. For Tractatus Quanticum, that role fell to us. This is the result.
arXiv:2507.22758v2 Announce Type: replace Abstract: Recent advancements in financial problem-solving have leveraged LLMs and agent-based systems, with a primary focus on trading and financial modeling. However, credit assessment remains an underexplored challenge, traditionally dependent on rule-based methods and statistical models. In this paper, we introduce MASCA, an LLM-driven multi-agent system designed to enhance credit evaluation by mirroring real-world decision-making processes. The framework employs a layered architecture where specialized LLM-based agents collaboratively tackle sub-tasks. Additionally, we integrate contrastive learning for risk and reward assessment to optimize decision-making. We further present a signaling game theory perspective on hierarchical multi-agent systems, offering theoretical insights into their structure and interactions. Our paper also includes a detailed bias analysis in credit assessment, addressing fairness concerns. Experimental results demonstrate that MASCA outperforms baseline approaches, highlighting the effectiveness of hierarchical LLM-based multi-agent systems in financial applications, particularly in credit scoring.
arXiv:2607.05545v1 Announce Type: new Abstract: LLM conformity is often used to describe cases where a model changes a correct answer toward a peer or group response. We show that most of this apparent conformity survives even after the peer is removed. The reason is a confound: standard conformity prompts mix two cues at once, the presence of a speaker and the repeated wrong answer itself. Existing benchmarks vary these cues together, so they cannot tell how much of the revision actually depends on the speaker. We introduce a no-source condition: the same asserted answer with the explicit speaker removed. Across six open-weight LLMs and seven QA and reasoning datasets, this condition alone causes harmful revision in $66.5\%$ of initially correct cases, compared with $10.3\%$ under a plain re-ask. The effect also remains when the repeated answer is paraphrased and when answer options are hidden in an open-ended setting. Source framing mainly modulates this floor: expert-panel framing raises it, while minimal person labels do not reliably raise it. When models flip, they are usually confidently wrong, and simple recalibration does not recover the original answer. Source attribution still matters, but it should be measured as an increment above this speaker-free floor. The methodological lesson is that conformity benchmarks should first measure what remains after the speaker is removed; without this step, benchmarks may mistake repeated text for social influence.
arXiv:2607.05682v1 Announce Type: new Abstract: LLM systems for scientific discovery increasingly assist with ideation, literature synthesis, experiment planning, and report generation, but the first research question they propose can remain difficult to audit: it may sound plausible without exposing the mechanism, falsifier, or assumption that a scientist should inspect. We introduce FirstResearch, a first-principles research-question formation framework for scientific LLM agents whose core artifact is a structured Research Question Certificate. The certificate records primitive definitions, assumptions, a mechanism model, a tension or contradiction, a falsifiable hypothesis, a minimal decisive test, and a failure update rule, making the proposed question inspectable before downstream execution. On ten LLM-agent research topics, FirstResearch outperforms controlled prompt-level baselines inspired by AI co-scientist, Agent Laboratory, and AI Scientist-v2 under a primary DeepSeek-blind-judge protocol. A Gemini-2.5-Flash independent-judge rescore of the same 40 baseline packages preserves the system-level ranking, with FirstResearch scoring 4.86/5 versus 4.38/5 for the strongest baseline and Pearson agreement of 0.865 on average score. A one-repeat ablation checkpoint further suggests that the certificate-centered core is the strongest component: certificate-only scoring reaches 4.90/5 under DeepSeek and 4.88/5 under Gemini, while removing certificates drops below 1/5 under both judges. These results are preliminary and use LLM judges rather than human domain experts, but they support a narrow scientific-discovery claim: explicit derivation constraints are a promising mechanism for making LLM-generated scientific questions more auditable. Code, prompts, saved outputs, and reproduction scripts are available at https://github.com/louiswang524/FirstResearch.
arXiv:2606.18181v2 Announce Type: replace Abstract: Illegal, unreported, and unregulated fishing (IUU) traditionally refers to fishing activities that violate applicable laws or occur in areas that lack applicable laws. We propose the term IUU+ to capture a broader suite of fisheries sector environmental and associated supply chain trade-related crimes and behaviors. Although IUU+ activity is widely recognized as a serious threat to marine ecosystems, markets, and livelihoods, a quantitative understanding of these incidents, e.g., their frequency, geography, species, actors, and patterns in the type of illicit activity, remains difficult to obtain. We propose IUU+DB, a large language model driven system for building a global incident database of IUU+ activity. The system ingests heterogeneous documents, classifies whether they describe relevant incidents, extracts key data elements such as actors, locations, species, vessels, violations, and enforcement outcomes, and supports deduplication and trend analysis. Case studies and validation results show that IUU+DB can help organize fragmented evidence, surface geographic and behavioral hotspots, support fisheries-domain specific research in academia and non-government organizations, assist source and species risk assessments for industry, and provide support for policy implementation and targeted enforcement efforts to government agencies.
arXiv:2606.19990v2 Announce Type: replace Abstract: While RL has become a promising tool for refining world models, existing methods largely rely on conservative rollouts near the training distribution, limiting exploration, behavioral diversity, and richer dynamic discovery. In this work, we challenge this conservative paradigm. We argue that the core limitation is not exploration itself, but the lack of reliable verification strategies to support broader exploration. Without reliable verification, expanded exploration becomes highly susceptible to reward hacking, where policies exploit imperfect rewards without achieving genuine improvement. To evaluate this motivation, we instantiate our method in embodied world models, where physical plausibility, and task completion provide a rigorous testbed for scalable RL under complex dynamics. On the verification side, we introduce Reward as an Agent, an agentic reward framework that actively evaluates generated behaviors to provide robust reward signals and mitigate reward hacking under distribution shifts. On the exploration side, we introduce Dynamic-Aware Rollout Diversification through DynDiff-GRPO, which explicitly expands action-space exploration to diversify trajectories, broaden state-action coverage, and encourage richer embodied behaviors beyond conservative rollout regimes. By unifying Reward as an Agent with DynDiff-GRPO, we enable RL on a more reliable reward foundation with substantially diversified sampling, effectively mitigating reward hacking while yielding significant accuracy gains across multiple open-source world models, thereby demonstrating that broader exploration can scale successfully when grounded in robust verification.
arXiv:2502.12307v2 Announce Type: replace Abstract: For a fixed alphabet $A$, an infinite sequence $X$ is said to be normal if every word $w$ over $A$ appears in $X$ with the same frequency as any other word of the same length. A classical result of Agafonov (1966) relates normality to finite automata as follows: a sequence $X$ is normal if and only if any subsequence of $X$ selected by a finite automaton is itself normal. Another theorem of Schnorr and Stimm (1972) gives an alternative characterization: a sequence $X$ is normal if and only if no gambler can win large amounts of money by betting on the sequence $X$ using a strategy that can be described by a finite automaton. Both of these theorems are established in the setting of deterministic finite automata. This raises the question as to whether they can be extended to the setting of probabilistic finite automata. In the case of the Agafonov theorem, this question was positively answered by L\'echine et al. (2024) in a restricted case of probabilistic automata with rational transition probabilities. In this paper, we settle the full conjecture by proving that both the Agafonov and the Schnorr-Stimm theorems hold true for arbitrary probabilistic automata. Specifically, we show that a sequence $X$ is normal if and only if any probabilistic automaton selects a normal subsequence of $X$ with probability $1$. We also show that a sequence $X$ is normal if and only if a probabilistic finite-state gambler fails to win on $X$ with probability $1$.
arXiv:2602.21710v2 Announce Type: replace Abstract: An extended formulation of out-of-time-ordered correlators (OTOCs), which quantify noncommutative operator growth and information scrambling in quantum many-body systems, is developed for turbulence dynamics as a representative of non-canonical Hamiltonian systems. Based on the Wigner-Weyl transform and the Moyal bracket formalism, the semiclassical limit of OTOC for turbulent plasmas governed by the Hasegawa-Mima equation is derived as an ensemble-averaged squared Lie-Poisson bracket between two chosen functionals of the turbulent fields. The classical-limit OTOC provides a quantitative measure of how a variational perturbation applied to one functional propagates across scales in the turbulent dynamics and how it affects another functional at a later time, thereby capturing scale-dependent or field-dependent transfer processes. In a quasilinear approximation with a strong zonal flow, we provide a closed analytic expression of the classical-limit OTOC to characterize the interaction between zonal and non-zonal modes. An asymptotic analysis shows that the OTOC grows quadratically at early time, while in the long-time strong-shear regime it approaches a finite saturated value with an inverse-square algebraic dependence. This behavior is attributed to zonal-flow shearing, which rapidly scrambles the non-zonal perturbation toward higher wavenumbers, thereby reducing the low-wavenumber non-zonal content that can feed back onto large-scale zonal modes.
arXiv:2607.05599v1 Announce Type: new Abstract: This paper develops a computationally efficient framework for reachability analysis of transmission-level power system dynamics with synchronous generators, grid-forming and grid-following inverters, and uncertain power injections/withdrawals. Starting from reduced-order device models and a frequency-divider representation, we derive a linear ordinary-differential-equation model suitable for efficient reachable-set computation under bounded disturbances across network buses. The proposed reachability method combines interval reachability and contraction-based bounds to construct certified over-approximations for the linear ordinary-differential-equation model. A real Jordan transformation separates non-oscillatory modes, handled through a linear embedding system, from oscillatory modes, enclosed using contraction-based ball bounds. Numerical experiments on a modified IEEE 39-bus system validate the reachable tubes against high-fidelity electromagnetic-transient (EMT) simulations, and demonstrate multi-second reachable sets computed in sub-second time.
arXiv:2607.05440v1 Announce Type: cross Abstract: Recommending the correct set of energy conservation measures (ECMs) for a building is a structured, multi-label prediction problem in which a task-specific supervised model has weak training signal and a general language model has no grounding in the local building stock. We study this problem on 10,422 real New York City Local Law 87 (LL87) energy-audit records, taking as ground truth the set of ECM categories that certified auditors actually recommended. We make four contributions. First, we establish that energy-use-intensity (EUI) prediction - the upstream task - is effectively solved by tree ensembles: across fifteen trained models, a stacking ensemble reaches a coefficient of determination R^2 = 0.757, and every one of six neural architectures is outperformed by gradient-boosted trees. Second, we show that the framing of the recommendation task dominates model choice: recasting ECM recommendation as 19-way multi-label classification rather than single-label categorization lifts a gradient-boosted-tree baseline from a previously reported 25.9% accuracy to a micro-F1 of 0.571. Third, we benchmark eight large language models (LLMs) from four providers in a 2x2 design that independently toggles retrieval grounding and explicit reasoning, scoring each arm on per-label F1, U.S.-dollar cost per building, and latency; retrieval-augmented generation (RAG) improves micro-F1 by +0.11 to +0.20 on every model, while explicit reasoning yields no measurable accuracy change (-0.018 to +0.010) at up to 8.4x the cost. Fourth, we show LLMs systematically over-recommend - high recall, low precision - and that retrieval closes the gap chiefly by improving precision. A 70-billion-parameter open-weight model with a fifteen-line nearest-neighbor retrieval step reaches 0.511 micro-F1 at $0.00032 per building, comparable to a frontier model at roughly 10.1x lower cost.
arXiv:2606.20031v3 Announce Type: replace Abstract: Dynamic environmental changes, confined workspaces, and stringent real-time constraints make pathfinding in Robotic Mobile Fulfillment Systems (RMFS) a challenging problem for conventional search- and rule-based methods, which typically suffer from high computational complexity and long decision latency. While reinforcement learning (RL) has emerged as a powerful alternative, deploying learned policies with extreme energy efficiency on resource-constrained hardware remains an open challenge. We present SDQN-RMFS, an end-to-end framework that achieves high-fidelity deployment of an RL-trained policy from a full-precision artificial neural network (ANN) through to a neuromorphic chip. By computing only when triggered by sparse events, this framework unlocks ultra-low-power RMFS pathfinding. Our full-stack pipeline operates as follows: an ANN policy is first efficiently trained via a collision-allowing strategy to densify informative trajectories, and then converted into a spiking neural network (SNN) via a hard-label knowledge distillation approach. This effectively addresses the output distribution mismatch, preserving policy capability across the ANN-to-SNN pipeline while substantially reducing inference latency. Hardware experiments demonstrate up to 11,281$\times$ energy savings and a nearly two-fold reduction in latency compared to a high-performance GPU baseline, while maintaining decision quality on par with the original trained policy. These results establish physical neuromorphic inference as a practical and energy-sustainable pathway for large-scale RMFS operations.
arXiv:2606.20416v2 Announce Type: replace Abstract: Diffusion models rely heavily on explicit timestep embeddings to modulate the denoising process across various noise scales. In this work, we challenge the necessity of these temporal signals by analyzing their impact on U-Net and Diffusion Transformer architectures. Beyond empirical evidence, we provide a theoretical framework demonstrating that, under certain conditions, the global minimizer of the diffusion training objective can be achieved without explicit timestep conditioning. Our findings reveal a surprising robustness when timestep embeddings are completely removed. Extensive ablation studies on the CelebA and CIFAR-10 datasets show that these time-agnostic models can maintain high structural fidelity and even surpass their conditioned counterparts in competitive metrics, including FID, precision, and recall. Our analysis suggests these architectures can implicitly infer noise scales from the corrupted input under specific assumptions, rendering explicit temporal conditioning redundant. This study challenges long-standing temporal conditioning paradigms and paves the way for more efficient and structurally focused generative architectures.