arXiv:2607.05565v1 Announce Type: new Abstract: Conventional non-invasive photothermal imaging techniques are fundamentally constrained by the diffusive nature of heat transport, which causes severe energy dissipation during subsurface reconstruction. Although modulation-based approaches partially mitigate this limitation by encoding depth information into phase delay and amplitude attenuation, they remain inherently restricted by repeated temporal excitation, long acquisition times, and stitching artifacts in large-area inspection. In this work, we propose a structured illumination scanning thermography (SISTER) framework that replaces conventional temporal modulation with continuous spatial scanning under static structured illumination. The key theoretical insight is that heat diffusion is governed by a Markov semigroup, while sample motion transforms static spatial illumination into an equivalent temporal excitation through a Galilean coordinate transformation. This formulation enables dynamic-to-static reconstruction without repeated temporal modulation and provides a unified interpretation of spatial scanning and conventional signal modulation. A scanning system is integrated to implement the proposed framework together with a dynamic-to-static reconstruction algorithm for continuous subsurface defect inspection. Both numerical simulations and experimental results demonstrate that the proposed method significantly improves spatial continuity, signal-to-noise ratio, and detection capability while effectively eliminating stitching artifacts and reducing acquisition complexity. The proposed SISTER framework establishes a unified theoretical foundation for scanning photothermal imaging and provides a practical paradigm for high-efficiency, large-scale industrial non-destructive testing.
Science Journals
arXiv:2607.05577v1 Announce Type: new Abstract: Long-form fiction writers need memory that answers multi-hop questions about evolving story state: who knows a secret and when they learned it, whether an event preceded the narration that revealed it, whether a setup paid off, and how a relationship shifted. General-purpose retrieval and agent-memory systems represent entities and facts but not the narratological structure these questions turn on, so they surface the wrong evidence or none at all. We introduce the Narrative World Model (NWM), a writer-memory system that pairs a narratology-grounded typed temporal-state graph with query-conditioned hybrid retrieval. To measure memory rather than the answerer, we read every system through a single held-constant Opus 4.8 reader over only that system's chapter-safe evidence, on a reproducible public corpus and a validated multi-hop benchmark, and we compare against the strongest existing temporal-knowledge-graph agent-memory framework, Graphiti/Zep (Rasmussen et al., 2025). NWM substantially and significantly outperforms this baseline on multi-hop narratological QA across both corpora, and far exceeds GraphRAG and flat retrieval. The advantage is representational rather than an artifact of extraction: it survives rebuilding the baseline with NWM's own extractor, and traces to its narratology-grounded structure and query-conditioned retrieval, not to graph size or extractor quality.
arXiv:2607.05913v1 Announce Type: new Abstract: xDECAF is an extensible tool for architecture-based data flow analysis with a focus on information security. It combines an extended data flow diagram metamodel of labeled flows and nodes, a domain-specific constraint language with different flow operations, and a browser-based editor backed by an analysis engine. In this paper, we present the xDECAF tool library and a curated catalog of over 20 example models with documented constraints and expected violations, intended as a reusable dataset for the community. The tool has already been adopted by several research lines, providing concrete evidence of its utility. The tool, dataset, and a hosted online editor are publicly available.
arXiv:2605.30796v5 Announce Type: replace Abstract: This paper presents a rigorous convergence analysis for the lightning plus polynomial approximation scheme, which employs rational approximations constructed with preassigned tapered, exponentially clustered poles. This pole placement strategy was originally introduced by Trefethen and his collaborators for the resolution of corner singularities. Ample numerical results indicate that this scheme achieves root-exponential convergence, and in particular attains the same optimal convergence rate as the best rational approximation to $x^\alpha$ on $[0,1]$ established by Stahl.% which is conjectured in [SIAM J. Numer. Anal., 61:2580-2600, 2023]. In this work, we establish optimal root-exponential convergence for the class of prototype functions of the form $g(z)z^\alpha$ or $g(z)z^\alpha\log z$, where $g$ is analytic on a neighborhood of the sector domain. These results confirm the validity of Conjectures 3.1 and 5.3 stated in [SIAM J. Numer. Anal., 61:2580-2600, 2023], and demonstrate that the choice $\sigma_{\mathrm{opt}} =\frac{\sqrt{2(2 - \beta)}\pi}{\sqrt{\alpha}}$ achieves the theoretically optimal convergence rate $\mathcal{O}\left(e^{-\sqrt{2(2 - \beta)N\alpha}\pi}\right)$. Notably, for the specific case of $\beta = 0$, the scheme recovers Stahl's optimal convergence rate for $x^\alpha$. Furthermore, working within the decomposition framework for corner domains proposed by Gopal and Trefethen, this paper provides a rigorous proof of optimal root-exponential convergence for lightning plus polynomial approximation problems on corner domains, and explicitly derives the optimal pole clustering parameter.
arXiv:2605.31480v2 Announce Type: replace Abstract: Do neural models, such as Large Language Models, genuinely acquire compositional abilities for interpretation of natural language? When we talk about semantic interpretation, we can distinguish two complementary aspects: establishing what an expression refers to in the world (which we call the Extensional task) and representing its sense in a structured way (which we call the Intensional task). We evaluate LLMs and humans on both tasks in the setting of the Personal Relation Task (Paperno 2022) in which, given a universe of people and their relationships with each other, one is asked to interpret a noun phrase such as "Amber's parent's friend". Here, for the Intensional task, the answer is the formula "friend(parent(amber))", and for the Extensional task, the person. We find that humans and LLMs show opposite strengths: humans perform better on Extensional than Intensional tasks, and LLMs vice versa. Our methodology brings greater nuance to the understanding of compositional abilities in modern machine learning models. Our results support the notion that the lack of referential grounding in LLM training is a crucial missing component in mimicking human-like language understanding.
arXiv:2511.04177v2 Announce Type: replace Abstract: Personal AI agents are increasingly deployed in shared environments, where their actions affect not just the primary user they are assisting, but bystanders who never consented to being affected by the system. We show that a well-meaning AI assistant optimizing for one user's benefit can unintentionally erode a bystander's agency, a phenomenon we formalize as bystander disempowerment. We theoretically characterize the conditions under which disempowerment arises, showing it emerges when an assistant systematically selects actions that increase user empowerment at the bystander's expense. We empirically demonstrate this in Disempower-Grid, a parameterized suite of multi-agent gridworld environments, finding that between 27-96% of procedurally generated environments exhibit disempowerment, and that the presence of disempowerment depends strongly on assistant objective and capability, not just environmental structure.
arXiv:2606.00476v2 Announce Type: replace Abstract: Do LLM agents act on the reasoning they state? This question of process fidelity is central to LLM-based social simulation, yet hard to measure where no reference for correct behavior exists. We study it in a controlled setting: a Texas Poker simulator with a verifiable reference action for every decision by splitting the faithfulness gap into two steps: reasoning-to-conclusion (does the stated decision follow from the agent's own reasoning?) and conclusion-to-action (does the agent execute what it states?). The two steps behave very differently. Conclusion-to-action is reliable: inconsistency is 0.7% for Claude Haiku 4.5 and 1.4% for DeepSeek-Reasoner once the conclusion is read from an explicit tag, whereas free-text conclusion extraction reports 22-26%. Reasoning-to-conclusion is where fidelity frays, but not through a single dominant failure. In a step-level diagnostic the agent's errors split roughly evenly between bad inputs, borderline cases, and rule misapplication deriving a conclusion that contradicts the agent's own restated rule from inputs it estimated correctly. This composition is model-dependent: rule misapplication accounts for a third of Haiku's interpretable errors but only 8% of DeepSeek's. The one robust signal is directional: when an agent does misapply its own stated rule, it almost always (99.5% for Haiku) errs in the risk-averse direction. The override is partly hedging behavior, not a capability limit: instructing the agent to apply the rule mechanically halves the misapplication rate (13.9% to 6.8% of decisions) and raises adherence by eight points. Process-fidelity evaluation should therefore elicit machine-checkable conclusions and probe for directional biases rather than assume a single upstream failure mode, lest it conflate measurement noise with model behavior.
Spectral and combinatorial methods for efficiently computing the rank of unambiguous finite automata
arXiv:2511.09703v2 Announce Type: replace Abstract: A zero-one matrix is a matrix with entries from $\{0, 1\}$. We study monoids containing only such matrices. A finite set of zero-one matrices generating such a monoid can be seen as the matrix representation of an unambiguous finite automaton, an important generalisation of deterministic finite automata which shares many of their good properties. Let $\mathcal{A}$ be a finite set of $n \times n$ zero-one matrices generating a monoid of zero-one matrices, and $m$ be the cardinality of $\mathcal{A}$. We study the computational complexity of computing the minimum rank of a matrix in the monoid generated by $\mathcal{A}$. By using linear-algebraic techniques, we show that this problem is in $\textsf{NC}$ and can be solved in $\mathcal{O}(mn^4)$ time and $\mathcal{O}(n^2)$ space. We also provide a combinatorial algorithm finding a matrix of minimum rank in $\mathcal{O}(mn^4)$ time and $\mathcal{O}(n^3)$ space. As a byproduct, we show a very weak version of a generalisation of the \v{C}ern\'{y} conjecture: there always exists a straight line program of size $\mathcal{O}(n^2)$ describing a product resulting in a matrix of minimum rank. For the special case corresponding to total DFAs (that is, for the case where all matrices have exactly one 1 in each row), the minimum rank is the size of the smallest image of the set of all states under the action of a word. Our combinatorial algorithm finds a matrix of minimum rank in time $\mathcal{O}(n^3 + mn^2)$ in this case.
arXiv:2511.12605v2 Announce Type: replace Abstract: We present M-OWNS, a spatial marching method that combines the carrier-wave factoring of the parabolised stability equations (PSE) with a recursive one-way Navier--Stokes (OWNS-R) projection framework. A distinct numerical resolution and efficiency advantage is offered by the approach, in modelling disturbance and instability state evolution. A spectral resolution comparison analysis shows that to leading order, for any excited eigenfunction whose eigenvalue lies closer to the carrier wavenumber than to the origin, the wave-factored system resolves the mode at a coarser streamwise numerical step size relative to the unfactored system. A non-iterating variant, with the carrier wavenumber determined from the base flow, temporal frequency and spanwise wavenumber alone, achieves equivalent resolution accuracy at identical per-step cost to unfactored OWNS. For the fixed-carrier variant, M-OWNS reduces the total solve count by factors of two to eight relative to unfactored OWNS across the test cases considered, with larger reductions possible when the iterated closure condition of PSE is suitable. The method is validated across incompressible and subsonic flat-plate boundary-layers, three-dimensional crossflow disturbances, and a Mach~4.5 hypersonic boundary-layer with four forcing configurations: eigenfunction inlet forcing, wall suction/blowing, multi-mode freestream forcing and randomised inlet forcing. The wall suction/blowing case is validated against a fully elliptic linear harmonic Navier--Stokes solver. For deterministic forcing scenarios, M-OWNS captures disturbance amplitudes, acoustic radiation fields, and modal synchronisation sequences at coarser streamwise resolution than unfactored OWNS. Under broadband randomised forcing, M-OWNS resolves mixed-mode disturbance development at half the numerical cost relative to standard OWNS.
arXiv:2510.01642v4 Announce Type: replace Abstract: Recent advances in robotic manipulation have integrated low-level robotic control into Vision-Language Models (VLMs), extending them into Vision-Language-Action (VLA) models. Although state-of-the-art VLAs achieve strong performance in downstream robotic applications, supported by large-scale crowd-sourced robot training data, they still inevitably encounter failures during execution. Enabling robots to reason and recover from unpredictable and abrupt failures remains a critical challenge. Existing robotic manipulation datasets, collected in either simulation or the real world, primarily provide only ground-truth trajectories, leaving robots unable to recover once failures occur. Moreover, the few datasets that address failure detection typically offer only textual explanations, which are difficult to utilize directly in VLA models. To address this gap, we introduce FailSafe, a novel failure generation and recovery system that automatically produces diverse failure cases paired with executable recovery actions. FailSafe can be easily adapted to a wide range of manipulation tasks in simulators with motion planning support, enabling scalable creation of failure-action data. To demonstrate its effectiveness, we fine-tune LLaVA-OneVision-7B (LLaVA-OV-7B) to build FailSafe-VLM. Experimental results show that FailSafe-VLM successfully helps robotic arms detect and recover from potential failures, improving the performance of three state-of-the-art VLA models (Pi-0-FAST, OpenVLA, OpenVLA-OFT) by up to 22.6% on average across several tasks in ManiSkill. Furthermore, FailSafe-VLM could generalize across different spatial configurations, camera viewpoints, object and robotic embodiments.
arXiv:2607.06270v1 Announce Type: new Abstract: The Jensen-Shannon divergence (JSD) is a symmetric and bounded measure of the dissimilarity of two probability distributions, which has become a standard tool in statistics, information theory, and machine learning. We complement the understanding of its mathematical properties by presenting an analysis of the amount of data that is needed to distinguish between two distributions, given the value of JSD between them. We find the number of independent and identically distributed samples that suffice for a classifier to determine which of two distributions generated observed data at a desired error rate, for two complementary classifiers: we show that for the log-likelihood-ratio classifier, a sample size that grows as the inverse JSD is sufficient, whereas for a majority-vote classifier assembled from independent single-sample decisions, the sufficient size grows as the squared inverse JSD. These distinct scalings offer operational readings of JSD values and their translation into distinguishability in different contexts.
arXiv:2607.05598v1 Announce Type: new Abstract: Novel View Synthesis (NVS) methods, such as 3D Gaussian Splatting (3DGS), rely heavily on the assumption of clean, multi-view consistent, posed input images. Real-world captures can violate this assumption due to screen-space artifacts-static occlusions fixed to the 2D image plane rather than to the 3D world. Common examples include physical sensor defects, environmental obstructions (such as rain or mud on the lens enclosure), capture obstructions (such as a thumb over the camera sensor or a dashboard visible in dashcam footage), and digital overlays (such as watermarks or UI elements). When present, they are erroneously baked into the 3D geometry as "floaters" or near-camera artifacts, degrading the quality of novel-view rendering. In this work, we propose SSA-3DGS, an unsupervised framework that jointly optimizes a 3D scene and a learnable 2D overlay to recover a clean 3D scene and the corrupting artifacts. By exploiting geometric consensus across views, our method effectively disentangles static artifacts from the 3D scene geometry without supervision or manual input. Across diverse synthetic corruptions and a self-captured real-world dataset, SSA-3DGS improves reconstruction fidelity by up to 9 dB PSNR over 3DGS trained on the same corrupted inputs, while faithfully preserving the corrupting artifact.
arXiv:2607.05615v1 Announce Type: new Abstract: Activation steering via sparse autoencoders (SAEs) enables behavioral control of large language models without task-specific fine-tuning, but standard methods apply the steering signal at every generated token, incurring constant per-token perturbation that risks degrading fluency. We ask: is dense intervention necessary? We introduce Stochastic Token Steering (STS), which gates each token independently with probability $p$, and Stochastic Block Steering (SBS), which gates a leading window once per sequence; neither requires a reward model or learned gating policy. Across two model families and two behavioral tasks, steering only 50% of the tokens recovers most of the dense-steering effect while preserving fluency, and steering as few as 30% surpasses prompt-based control. The optimal steering magnitude scales inversely with the intervention ratio, revealing that SAE-mediated control is rate-limited: the behavioral outcome depends on cumulative signal dosage across a sequence.
arXiv:2607.06111v1 Announce Type: new Abstract: Industrial prediction and soft sensing depend on credible input measurements. In field deployment, a predictor may receive biased, delayed, stale, or derived measurements that still look plausible. Prediction can then fail before the forecasting backbone becomes the main limitation, because the input window no longer represents the real process. Sensor reconstruction, data reconciliation, and fault-tolerant soft sensing reduce this risk, but they often rely on numerical correlation, alarms, fault labels, or explicit process equations. These assumptions are not always available. A correlated variable can also be an unsafe reference when variables share instruments, derived formulas, soft-sensing chains, or control actions. The key issue is to decide before prediction which external measurements can credibly support the current measurement. To address this issue, this article proposes LLM-Guided Measurement Credibility Correction (MCC). MCC converts measurement meanings in process documents into measurement semantics usable by numerical models. It builds independent process references from semantically qualified external measurements and corrects local measurement conflicts before prediction. The predictor therefore receives a more credible input window. Across multiple complex industrial forecasting and soft-sensing tasks, +MCC achieves average relative MAE reductions of 30.7% on real-test protocols and 80.3% on controlled-corruption protocols. It adds only 0.5--2.0k online parameters, with the slowest +MCC inference time at 0.089 ms/step. These results show that measurement semantics can turn process documents into lightweight pre-inference credibility correction and improve prediction accuracy.
arXiv:2511.13431v2 Announce Type: replace Abstract: We introduce a novel neural representation for maps between 3D shapes based on flow-matching models, which is computationally efficient and supports cross-representation shape matching without large-scale training or data-driven procedures. 3D shapes are represented as the probability distribution induced by a continuous and invertible flow mapping from a fixed anchor distribution. Given a source and a target shape, the composition of the inverse flow (source to anchor) with the forward flow (anchor to target), we map points between the two surfaces. By encoding the shapes with a pointwise task-tailored embedding, this construction provides an invertible and modality-agnostic representation of maps between shapes across point clouds, meshes, signed distance fields (SDFs), and volumetric data. The resulting representation consistently achieves high coverage and accuracy across diverse benchmarks and challenging settings in shape matching. Beyond shape matching, our framework shows promising results in other tasks, including UV mapping and registration of raw point cloud scans of human bodies.
arXiv:2606.00550v2 Announce Type: replace Abstract: The persistent challenge in scaling authentic manipulator education within university laboratories is a structural dichotomy: commercial digital twins are often cost-prohibitive and rigidly scripted, whereas open-source robotics middleware (ROS) imposes steep technical and syntax barriers for novices. To resolve this logistical and educational friction, this paper proposes a scalable four-tier communication architecture tailored for sustainable robotic curricula. Rather than focusing on software application design, our study examines the underlying data exchange mechanisms required to bridge visual conceptual environments with physical robotic endpoints, utilizing the Graphical Open-Source Platform (GOSP) as a reference implementation. Our work details the framework's technical integration of 3D visual armature modeling with a robust ROS middleware backend, emphasizing the serialization, routing, and encapsulation of intricate communication routines. Preliminary sim-to-real validation using multi-axis spatial trajectories confirms that encapsulating these communication pipelines provides sufficient fidelity and a hardware-agnostic pathway. By bridging virtual design and physical execution, our architectural blueprint offers a viable infrastructure for engineering education.
arXiv:2606.01884v3 Announce Type: replace Abstract: Practical non-invasive Brain-Computer Interface (BCI) systems require EEG decoders with strong cross-subject generalization and minimal calibration. However, inter-subject variability and signal non-stationarity often entangle motor semantics with subject-specific noise, limiting subject-independent decoding. Recent multimodal approaches use text as a semantic anchor, yet text provides sparse and static supervision for inherently dynamic motor processes. To address this issue, we propose EVA-Net, a two-stage framework that uses action videos as semantic priors for subject-independent EEG motor decoding. In the first stage, EEG and video features are aligned in a shared space using cross-modal and supervised contrastive objectives to reduce subject-specific variation. In the second stage, video category prototypes and knowledge distillation transfer video-derived priors to an EEG-only classifier without adding inference overhead. Experiments on two public datasets show that EVA-Net achieves strong subject-independent decoding performance, including an 8.66% LOSO accuracy gain on EEGMMI. Ablation results further suggest that video provides a more effective semantic anchor than the text baseline considered in this work.
arXiv:2606.02125v2 Announce Type: replace Abstract: Trace-compatible polynomial extensions are a recurring local ingredient in high-order finite element analysis on conforming hexahedral meshes. They are needed whenever prescribed edge and face traces must be preserved while a polynomial is extended into a neighboring cell or boundary patch. The main contribution of this paper is the construction of p-robust polynomial liftings on nonsingular conforming hexahedral boundary patches, with stable control of both the H^1 norm and the H^1-seminorm estimates needed for energy arguments. These liftings imply H^1-seminorm stable discrete harmonic extensions of polynomial Dirichlet traces. They also serve as boundary corrections for the conforming hp Clement interpolant, yielding trace-preserving interpolation operators for functions with only H^1 regularity. Under the uniform boundary-degree condition the constants are p-uniform; in the non-uniform case the stated logarithmic loss appears. We also treat meshes that may contain conforming singular boundary patches, where the loss remains polylogarithmic in the maximal local degree. Trace-preserving interpolation on reference cells and vertex-supported decompositions are developed as local tools for these patch and mesh-level constructions.
arXiv:2606.03141v3 Announce Type: replace Abstract: We construct $h$- and $p$-robust, degree-preserving space decompositions and additive Schwarz preconditioners for variable-degree $hp$ finite element discretizations of conforming reaction-diffusion and fitted-interface problems. On conforming simplicial meshes, an owner-selected Falk--Winther bubble transform gives $L^2$- and $H^1$-stable components with constants independent of the mesh size, the local polynomial degrees, and the degree distribution. Minimal-degree owners preserve arbitrary variable-degree spaces with $p_K\ge1$, while coefficient-adapted owners yield weighted estimates under local chain conditions. Combined with a weighted continuous piecewise affine extraction, this gives $hp$-uniform Schwarz preconditioners for conforming reaction-diffusion problems with locally comparable coefficients, and a coefficient-weighted conforming variant in the uniform-degree case. For three-dimensional fitted-interface problems, we use a symmetric Nitsche discretization on a tetrahedral mesh fitted to a piecewise planar interface. Surface jump components are lifted into the side selected by the penalty scaling using patch-level $p$-robust trace liftings. The conforming remainder is decomposed by the low-order extraction and a weighted one-sided bubble transform. Grouping the resulting components by vertices yields a practical vertex-patch Schwarz preconditioner whose condition number is independent of the mesh size, local polynomial degrees, diffusion contrast, and coefficient magnitudes under a common-degree condition on interface-touching tetrahedra. Numerical experiments for pure diffusion problems support the theory and suggest robustness beyond the common-degree assumption.
arXiv:2606.03921v2 Announce Type: replace Abstract: Converting multi-view RGB observations into simulation-ready 3D environments remains challenging because current reconstruction pipelines produce monolithic scene representations without explicit physical structure. They are typically defined up to an arbitrary global rotation and entangle rigid foreground objects with background geometry, which hinders stable physical interaction. Existing solutions often recover interactivity by replacing reconstructed objects with retrieved CAD assets, but this introduces a slow retrieval-and-replacement stage and weakens scene-specific geometric fidelity. We propose GARDEN, an RGB-only framework that reformulates reconstruction as physically-grounded scene factorization and outputs a structured hybrid scene representation. The key idea is to use gravity as a universal physical prior: we first align the reconstruction to a unified Gravity-View frame to resolve gauge ambiguity, then recover object-centric rigid meshes with accurate 6-DoF placement, and finally remove duplicate object geometry from the background through conditional 3D point classification. The resulting representation combines explicit rigid bodies with a decoupled background, enabling direct physics simulation while preserving visual realism. Experiments on both simulated and real multi-view scenes show that GARDEN improves object placement reliability, disentanglement quality, and rendering-simulation efficiency compared with retrieval-based baselines. Project page: https://sunjiahaovo.github.io/garden/
arXiv:2606.03949v2 Announce Type: replace Abstract: Human-in-the-loop reinforcement learning (HIL-RL) improves sample efficiency in real-robot manipulation through online human intervention. However, successful trajectories may include suboptimal actions that deviate from the desired task-execution path and force human intervention. Existing HIL-RL methods typically apply the consistent credit assignment principle to all transitions, uniformly propagating discounted terminal rewards through suboptimal segments, ignoring the actual contribution of each transition to task success. This overestimates Q-values for critic learning and indirectly misguides actor updates toward suboptimal behavior patterns. To this end, we propose PACT, a Preference-calibrated Actor-Critic Training framework that leverages the implicit preference signals induced by intervention to perform credit reassignment on identified suboptimal segments while directly guiding policy training for unbiased critic-actor learning. Specifically, we first design a progress model that learns from human demonstration and identifies suboptimal segments for credit correction. Then, from the human action and resampled policy action at the intervention state, we build preference pairs to define a counterfactual advantage that penalizes Bellman targets of the identified suboptimal segment, enabling directional credit calibration. Moreover, we directly align the policy with human corrective actions in the bounded mean space, providing an additional signal beyond critic-guided updates. Across five real-robot manipulation tasks, PACT improves the average success rate by 24.5% and achieves 1.3 times faster convergence, thereby improving both RL sample efficiency and performance. Code is available at https://anonymous.4open.science/r/HILRL-A1X-BC05.
arXiv:2606.04935v4 Announce Type: replace Abstract: Active inference casts decision-making as inference, with the Expected Free Energy (EFE) unifying goal-directed and information-seeking behavior. Recent work showed that EFE minimization can be written as Variational Free Energy (VFE) minimization on a generative model augmented with epistemic priors. We prove that the VFE of the augmented model can be rewritten as the VFE of the predictive model plus explicit entropy-correction terms, making the EFE contribution transparent. We then show that proper EFE-based planning requires combining these epistemic corrections with a planning correction that turns marginal inference into policy optimization, yielding a full variational characterization of EFE-based planning. This clarifies which corrections are needed for cross-entropy planning and for full EFE-based planning. The same entropy-corrected formulation leads to a detailed message-passing scheme for EFE-based planning together with simpler ablations. Experiments on three grid-world environments show that full EFE-based planning outperforms ablations that omit either the planning correction or the epistemic corrections.
arXiv:2607.06295v1 Announce Type: new Abstract: Deep learning models have emerged in machine learning and related fields, demonstrating astonishing performance in various visual tasks. Despite their great success, however, these models are unable to fully encode intrinsic visual structures, and often ignore the spatial, topological, and semantic information contained within an image. Graph neural networks offer a good framework to face this aspect, but their effective use for visual tasks has been only partly explored and mainly starting from a limited perspective. This work aims to address this gap by conducting a systematic comparison of current graph construction techniques within the context of a fixed three-layer GCN architecture. Through an empirical study, it demonstrates in particular how the network structure affects performance and provides an important methodological contribution regarding the computational stages preceding graph utilization, which will be strongly influenced by the structure itself.
arXiv:2512.13919v3 Announce Type: replace Abstract: This work shows how adaptivity can enhance value realization of digital twins in civil engineering. We focus on adapting the state transition models within digital twins represented through probabilistic graphical models. The bi-directional interaction between the physical and virtual domains is modeled using dynamic Bayesian networks. By treating state transition probabilities as random variables endowed with conjugate priors, we enable hierarchical online learning of transition dynamics from a state to another through effortless Bayesian updates. We provide the mathematical framework to account for a larger class of distributions with respect to the current literature on digital twins. To compute dynamic policies with precision updates we solve parametric Markov decision processes through reinforcement learning. The proposed adaptive digital twin framework enjoys enhanced personalization, increased robustness, and improved cost-effectiveness. We assess our approach on a case study involving structural health monitoring and maintenance planning of a railway bridge.
arXiv:2606.06576v2 Announce Type: replace Abstract: In the sciences, regression tasks often require predicting high-dimensional outputs from few training examples. Multi-output Gaussian processes excel in low-data regimes but typically struggle with high-dimensional outputs. Compress-then-predict pipelines such as PCA-GP (principal component analysis plus Gaussian process regression) handle high dimensionality, but rely on bases optimized for reconstruction rather than prediction. To address this gap, we propose a model that represents each output as a linear-Gaussian decoding of a low-dimensional latent state drawn from a Gaussian process prior. By analytically marginalizing the decoder weights, we couple compression and prediction in a single objective that scales to high-dimensional outputs. We refer to this model as Gaussian process latent factor regression (GPLFR). We demonstrate GPLFR by building the first spatially resolved emulator of global climate models for rocky exoplanets.