arXiv:2604.21636v2 Announce Type: replace Abstract: Accurate characterisation of margins in excised breast cancer tumours is critical to the success of surgical interventions. Yet margin status is typically confirmed post-operatively using histopathology. Here we present a microwave single pixel imaging technique designed for use in intraoperative margin assessment. By leveraging the photo-induced change in microwave transparency of a silicon modulator placed under the sample, we map the microwave reflectivity of tissue-mimicking phantoms with deeply sub-wavelength resolution, allowing hydration mapping across large areas (10 x 10 cm) at ~1 mm resolution. We evaluate the discriminatory capability of our method using gelatine-based tumour phantoms with water-content variations designed to mimic the contrast between malignant tissue and tumour margins in resected breast specimens. We demonstrate the capability to identify, locate and quantify inadequate margins up to the typically targeted minimum thickness of 2 mm. Furthermore, using numerical modelling, we show that our approach is expected to be resilient to patient-specific tissue differences. These results establish microwave single-pixel imaging as a promising route towards real-time intraoperative assessment of margins in excised breast tumours.
Science Journals
arXiv:2601.21776v3 Announce Type: replace-cross Abstract: The evaluation of the electrostatic potential is fundamental to the study of condensed phase systems. We discuss the calculation of the relevant lattice summations by Ewald-type techniques. A model charge density is introduced, that cancels multipole moments of the crystalline charge distribution up to a desired order, for accelerating convergence of the Ewald sums. The method is applicable to calculations of bulk systems, employing arbitrary unit cells in a classical or quantum context, and with arbitrary basis functions to represent the charge density. The efficacy of the method is demonstrated on the calculation of the fundamental gap of the gallium arsenide bulk semiconductor, as a prototype example, where significantly accelerated convergence is numerically confirmed, due to a reduction of the number of two-electron integrals that need to be computed. The approach clarifies a decades-old implementation in the CRYSTAL code.
arXiv:2605.26012v2 Announce Type: replace Abstract: Deep reinforcement learning (RL) agents commonly rely on high-dimensional neural representations, despite growing evidence that task-relevant value and policy structure may be intrinsically low-dimensional. In this work, we present a simple yet effective representation-level prior that inserts a fixed orthonormal projection to constrain encoder features to a low-dimensional subspace, requiring no auxiliary objectives, pretraining, or changes to the underlying RL algorithm. Under a linear realizability assumption, we prove that when the bottleneck dimension exceeds the intrinsic rank of the optimal value function in feature space, the bottleneck preserves expressivity and leaves the induced gradient dynamics unchanged up to an equivalent low-dimensional parameterization. Empirically, we find that across both single and multi-task benchmarks, baseline performance is either matched or improved once the bottleneck dimension exceeds a small task-dependent threshold; in many cases, value representations can be compressed to extremely low dimensions without loss, and the minimal sufficient dimension depends far more on environment complexity than encoder width. In addition, we analyze representation geometry and find that orthogonal bottlenecks stabilize feature norms and are associated with higher effective rank. Together, these results support a representation-space interpretation of the manifold hypothesis in reinforcement learning and position orthogonal bottlenecks as a lightweight, architecture-agnostic mechanism for shaping RL representations.
arXiv:2606.02435v2 Announce Type: replace Abstract: Prediction algorithms are increasingly used to inform decisions about humans, but maximizing accuracy-the standard learning objective-is not necessarily optimal for this purpose. Instead, we propose optimizing social welfare, defined as the average gain users receive from correct predictions. Welfare enables to express, and therefore account for, heterogeneity in how much users benefit from accuracy. But since these valuations are private and users can benefit from overreporting them, learning must simultaneously elicit truthful values and optimize welfare with respect to them. To this end, we propose a novel learning algorithm that incorporates a truthful auction. We show how to compute allocations and prices efficiently, and bound the number of paying users-which surprisingly is independent of the sample size. We conclude with experiments on real and synthetic data that demonstrate our algorithm and explore the connections between welfare and accuracy.
arXiv:2605.29263v3 Announce Type: replace Abstract: Low-channel wearable electroencephalography (EEG) is attractive for long-term monitoring, but four frontal electrodes provide only a sparse and spatially biased sampling of the scalp potential field. Virtual-channel methods should therefore be framed not as recovery of independent unmeasured brain activity, but as prior-guided conditional inference of posterior predictive scalp-potential representations at target electrode locations. We present FAVC-Net, a compact frequency-calibrated virtual-channel inference network that estimates 13 target channels from Fp1, Fp2, F7, and F8. The model combines shared multi-scale source encoding, source-state embeddings, target-conditioned signed source-block mixing, GATv2-based attention refinement, attention-consistent skip fusion, and weak Welch power spectral density calibration. The generator is trained as a task-agnostic reconstruction module, without class-label, classification, or CSP-like discriminative constraints, so that the virtual montage remains tied to conditional scalp-potential estimation rather than to a specific downstream decision. On the PRED+CT dataset, FAVC-Net achieved the best joint waveform-spectral operating point among neural and interpolation baselines. Its time-domain gains were modest, whereas log-spectral distance and PSD KL divergence were reduced by 30.50% and 38.94% relative to the strongest non-FAVC comparator. Under wearable-like source perturbations, the model preserved spectral fidelity and channel-frequency texture, with anti-collapse benefits most evident under EMG-like bursts and mixed stress. These results support virtual EEG channels as montage-compatible, frequency-calibrated posterior predictive representations derived from sparse frontal measurements, not as independent substitutes for physically recorded electrodes.
arXiv:2606.06337v2 Announce Type: replace Abstract: Long-horizon LLM sessions outlive their context windows, and the standard mitigations - truncation, summarization, retrieval - share a structural flaw: they treat history as flat text, discarding precisely the content that makes a session resumable: decisions and their rationales, task status, and file modification history. We present TokenMizer, an open-source transparent proxy that maintains session history as a typed knowledge graph and, at context boundaries, replaces the raw transcript with a token-budgeted serialization of session state. The schema comprises 14 node types and 7 edge types under an 8-state lifecycle in which decisions can be superseded or explicitly invalidated; bitemporal validity intervals support time-travel queries; and first-class decision-transition records preserve why each decision replaced its predecessor (trigger, reason, evidence). Version 0.3.1 embeds this memory core in a production-shaped serving layer - SSE streaming, security middleware, nine provider adapters, a monitoring dashboard, graph exports (D3 JSON, self-contained interactive HTML, Obsidian Canvas) - and exposes checkpoint/resume to agents as Model Context Protocol tools. The evaluation is deliberately minimal and fully provenanced: three synthetic sessions, heuristic-only extraction, one plain-summary baseline, every value traceable to a single versioned results file. Graph extraction ties the baseline on task recall (75.6%) and exceeds it on decision recall (85.0% vs. 70.0%) and file recall (100% vs. 91.7%), with 201-302-token resume blocks extracted in 8.1-529.9 ms per session. At n=3 these results are directional; ceiling effects and baseline weaknesses are analyzed explicitly. Code, benchmark runner, and the exact results file are released under the MIT licence.
arXiv:2606.06622v3 Announce Type: replace Abstract: We introduce UnpredictaBench, an evaluation that tests the ability of large language models (LLMs) to capture true underlying distributions. As LLMs are increasingly used as substitutes for other entities (e.g., for humans in economic simulations), the tendency of many models to collapse towards a single plausible answer means a failure to capture the unpredictability of real systems. Recent work on improving output diversity is insufficient for this setting: simulation requires samples that are calibrated to a target distribution, not merely varied outputs. UnpredictaBench isolates a simplified but fundamental version of this problem: sampling outcomes from individual target distributions, including canonical statistical distributions, distributions induced by stochastic programs, and natural-language scenarios that describe random processes. We introduce 448 such problems together with KS@N, a general-purpose evaluation metric that quantifies how well a model outputs approximate black-box target distributions via the Kolmogorov-Smirnov statistical test. This is the rate at which we fail to reject model samples of size N against ground-truth samples, with larger N indicating greater difficulty. Tested across open and proprietary models, we find a large spread in distributional capabilities. For instance, when models generate samples of size 100 (KS@100, our standard metric), scores range from near 0 to over 20%. No model is able to achieve over 40% at KS@100, showing significant headroom in distributional sampling as a capability. Although adding reasoning can somewhat increase scores, we find no immediate solution for this issue. UnpredictaBench shows that even simple distributional simulation remains challenging, making it a necessary first step toward using LLMs as stand-ins for complex systems. Project website and resources are available at https://unpredictabenchmark.github.io/.
arXiv:2606.09348v2 Announce Type: replace Abstract: Long-horizon agentic tasks pose a fundamental credit assignment challenge for outcome-base reinforcement learning: trajectory-level rewards verify final correctness but provide limited guidance on which intermediate reasoning steps or tool interactions contribute to the outcome. The difficulty is especially pronounced in multi-turn search agents, where successful trajectories may contain misleading actions and failed trajectories may contain valuable evidence-gathering steps. We propose PBSD (Privileged Bayesian Self-Distillation), a Bayes-calibrated self-distillation method for fine-grained credit assignment under sparse final rewards. PBSD measures trajectory quality through the posterior-to-prior probability ratio of the verified answer and applies Bayes' rule to convert this hard-to-estimate answer-side ratio into a tractable likelihood ratio between a standard student model and a privileged answer-conditioned teacher model. Autoregressive decomposition of this Bayesian evidence score yields turn-level signals that identify whether each intermediate turn supports or undermines the verified outcome. Consequently, PBSD provides a principled and elegant reweighting scheme that transforms sparse outcome supervision into Bayes-calibrated turn-level credit signals, while remaining fully compatible with standard policy optimization. Experiments demonstrate that PBSD consistently enhances performance across both in-domain and out-of-domain settings, and effectively transfers knowledge from short-context training to long-context inference, suggesting that its fine-grained credit assignment mechanism facilitates more effective policy learning and yields improved generalization.
arXiv:2605.16995v3 Announce Type: replace Abstract: This note provides additional details on the construction of the $Q$/$D$-space framework for sufficient order conditions of explicit Runge--Kutta (ERK) methods. Specifically, it presents a general version of the sufficiency theorem, several examples illustrating the verification of the sufficient conditions, a detailed construction of an ERK scheme of order $p=10$, the assembly of the associated linear systems, a complexity analysis of the construction algorithm, and tables of coefficients for the constructed ERK methods.
arXiv:2606.14606v2 Announce Type: replace Abstract: Dexterous manipulation is fundamentally a problem of interaction dynamics: the hand must track precise finger trajectories, regulate the contact force exchanged with grasped objects, respect actuation and safety limits, and remain predictable when contact persists -- objectives in tension for any fixed-gain controller. A sustained contact torque $\tau_{\text{ext}}$ through a joint stiffness $K_d$ produces the structural bias $e_\infty=\tau_{\text{ext}}/K_d$, so stiffening for accuracy sacrifices contact safety while softening yields by design. We make these interaction dynamics explicit and actuator-agnostic through a constant-$A_d$ double-integrator backbone, instantiating the offset-free architecture established for physical human-robot interaction (pHRI) and preserving its modeling assumptions on the reduced residual dynamics. An algebraic feedforward reduces the tendon transmission -- hydraulic, cable, pneumatic, twisted-string, or series-elastic -- to a constant-coefficient double integrator, so the QP cost inverse is precomputed offline and a 10-step receding-horizon QP runs at 500\,Hz under contact-force (ISO/TS 15066), actuation, and jerk constraints. An encoder-only augmented-Kalman disturbance state drives steady-state error to zero under constant contact loads in the nominal detectable case. In simulation, a hydraulically actuated finger -- the worked example, adding pressure and cavitation constraints -- attains 0.6\,mrad RMS, 0.1\,mrad steady-state, and 7.3\,mrad peak deflection under 1.5\,Nm contact: 153$\times$, 1500$\times$, and 21$\times$ better than classical impedance. The realized first-move stiffness (18$\to$323\,Nm/rad with update rate) is independently verified, and the architecture scales to a 16-DOF LEAP Hand MuJoCo model, recovering from 2.5\,N grasp disturbances within 0.7\,s.
arXiv:2606.16533v3 Announce Type: replace Abstract: We introduce \textbf{Kairos}, a regret-aware native world-action model stack for Physical AI. Kairos is motivated by the view that a physical world model should not aim to fully simulate all future pixels, but should learn and maintain the information most relevant to embodiment control: object state, spatial relations, contact conditions, task progress, action consequences, failure boundaries, and deployment uncertainty. Kairos establishes three model-side prerequisites toward this goal. First, it \textbf{learns} control-relevant information through a \textbf{Cross-Embodiment Data Curriculum}, which organizes open-world videos, human behavioral data, and robot interactions into an intervention-strength progression from passive physical observation to intentional behavior and embodied action grounding. Second, it \textbf{maintains} control-sufficient states through a unified \textbf{understanding, generation, and prediction architecture} equipped with \textbf{Hybrid Linear Temporal Attention}, where local, mid-range, and global temporal pathways support multi-timescale state maintenance under efficient inference. Third, it \textbf{deploys} these states through a \textbf{Deployment-Aware System Co-Design}, treating latency, memory footprint, and hardware compatibility as first-order constraints for future observation, action, and feedback loops. Experiments on embodied world-model benchmarks, world-action benchmarks, long-horizon generation, and inference-efficiency evaluation show that Kairos achieves superior performance while offering a favorable efficiency to capability trade-off.
arXiv:2606.25900v2 Announce Type: replace Abstract: Variational Autoencoders (VAEs) belong to a family of autoencoders with probabilistic properties, making them well suited for generating data by producing a smooth and continuous latent space. Despite being introduced over a decade ago, the method continues to be widely adopted in both research and industry for diverse applications. While VAEs are typically used as standalone models, this paper introduces a novel approach to integrate them as a neural network layer. Furthermore, a new training strategy is proposed for models incorporating these layers, and their performance is thoroughly analyzed.
arXiv:2606.21585v5 Announce Type: replace Abstract: A finite agent, a machine's digital twin or any bounded reasoner, infers a fixed and noisy world through finite sensors, so its coherent output is a belief: a probability density over states (the Bayes posterior). Such an agent stops short of certainty, and revising a belief carries a cost. We propose a framework for belief costs based on optimal transport, motivated by these facts. We pose two postulates. P0 (the arena): a revision cost is a scalar price on optimal transport, so beliefs live in Wasserstein space. P1 (uniform pricing): one nat of knowledge costs the same metric length everywhere, the eikonal condition. Among conceivable pricing rules we study this one. Under P0 and P1 the cost metric is optimal transport conformally reweighted by Fisher information, $\tilde g_{e,U}=2(e+U)\,g_{W_2}$, and the Fisher family is a characterization: among continuous reliefs, uniform pricing is equivalent to $U=cJ$. Two consequences follow on the conformal class. Certainty sits at infinite cost-distance once the relief dominates the Fisher information, so a well-posed inference has a cost floor diverging at certainty (necessity conjectural beyond power laws). On location-scale leaves the geometry is hyperbolic, and the Stam bound places the Gaussian as the most curved one (at $e=0$). The results are geometric, in nats, and hold up to units: a change of cost unit rescales all distances and preserves every conclusion (boundary, eikonal family, hyperbolicity, Gaussian extremum), a gauge theorem; a global change of state units at $e=0$ is an isometry; the content lies in signs, rankings and ratios. Via Landauer (one nat worth $k_BT$) the cost floor becomes an energy floor: revising toward certainty would demand unbounded energy. Physics anchors the unit and enters no theorem. Removing either postulate leaves the selection open.
arXiv:2607.04552v1 Announce Type: new Abstract: Data brokers are a largely American phenomenon. They collect vast amounts of personal information about most adult U.S. consumers, mainly without the latter's knowledge or consent. Accumulated data can be sold to anyone, including employers, landlords, insurance agencies, banks, governments (local, state, federal, and even foreign), as well as various malicious actors. This, in turn, enables discrimination, surveillance, identity theft, and stalking. Recent regulations -- such as the California Consumer Privacy Act (CCPA) modeled after EU's General Data Protection Regulation (GDPR) -- were introduced to bolster consumer privacy, e.g., the rights to: (1) opt-out of the sharing or selling one's personal information, (2) delete one's personal information, and (3) obtain a copy of that information. However, exercising these rights is not easy, as shown by our comprehensive study of the data broker ecosystem. We submitted both opt-out and deletion requests (using synthetic consumer identities) under the CCPA to all California-registered data brokers and investigated their responses and lack thereof. While the majority seem to be compliant, a significant fraction is not and many failed to reply to (and/or acknowledge) consumer requests. Furthermore, some data brokers require intrusive consumer identity verification in order to exercise one's opt-out rights, which is explicitly disallowed by the CCPA. There is also great disparity in the request submission process among data brokers as well as an extremely heavy (time and effort) overall consumer burden. This motivates an urgent need for streamlining and standardization of the consumer interface, stronger enforcement, and meaningful consequences for (especially sustained) non-compliance.
arXiv:2606.28120v2 Announce Type: replace Abstract: Software and scientific knowledge co-evolve, yet they are catalogued in separate corpora that rarely speak to one another. We bridge them at global scale by linking World of Code (a near-complete mirror of public version-control history) to Semantic Scholar and OpenAlex through a typed cross-corpus graph of 69.8M edges over eight relation types (paper-to-software mentions, software-to-paper citations, software dependencies, authorship, affiliation, and identity bridges). Anchoring on 18,247 curated science repositories, we ask two reciprocal questions: what is the impact of science on software, and of software on science? To test whether this Science-Software Supply Chain (S3C) view is feasible, we run basic investigations rather than claim a definitive measurement. The two directions appear to illuminate different, complementary strata: the literature's reach into software is dominated by a reproducibility and packaging layer (nf-core, Nextflow, Bioconda) and sequence-analysis tools, whereas software's reach back into science is proxied by a largely invisible machine-learning and data-science infrastructure tier (PyTorch, seaborn, NLTK). The direct paper-names-software channel is too sparse to rank: a human-curated gold benchmark links none of its 65 in-scope cases. Dependency reuse stands in as a proxy and is at most weakly coupled to citation count and to stars (Spearman rho=0.36). Our most cautionary finding is about measurement itself: the reuse-citation coupling flips sign and confidence across two reasonable ways of pairing a repository with a citation count, through papers that name it (n=137, rho=0.05, CI straddling zero) versus DOIs a repository declares for itself (n=1,067, rho=0.13, CI [0.07,0.19]). With linkage this sparse, the sign of a headline correlation depends on which gap one tolerates, so we report both and refrain from a strong decoupling claim.
arXiv:2607.01622v2 Announce Type: replace Abstract: This paper introduces a novel Virtual Element Method (VEM) for the coupled Stokes--Darcy system in primal-primal form. In the free-flow Stokes domain, we implement a stream function formulation that inherently satisfies the incompressibility constraint and reduces computational cost. Across the interface, mass conservation, normal stress balance, and the Beavers--Joseph--Saffman slip condition are enforced to couple the biharmonic stream function equation with the Darcy's pressure equation. Leveraging VEM's ability to handle general polygonal meshes, the proposed method naturally accommodates irregular interface geometries without requiring remeshing or adaptive refinement. The accuracy of the method is validated through several numerical simulations that include applications to dead-end filtration, and network flow in bioartificial organs.
arXiv:2607.04179v1 Announce Type: new Abstract: End-to-end Vision-Language Models (VLMs) show immense potential in autonomous driving. However, standard Supervised Fine-Tuning (SFT) often suffers from reasoning hallucinations and conservative biases. While traditional tool-augmented frameworks and Chain-of-Thought (CoT) approaches mitigate these issues, they incur exorbitant token consumption and unacceptable latency, rendering real-time deployment impractical. To resolve this reliability-efficiency trade-off, we propose CritiqueDriveVLM, a novel unified three-stage framework internalizing reasoning directly into the VLM. First, we introduce Critique-Driven Multi-Turn Reinforcement Learning (RL) guided by a multi-dimensional verifier. By providing granular scalar feedback and a multi-turn penalty, we force the policy to internalize logical deduction, cultivating a robust System-2 Teacher that achieves high accuracy without fragile external tools. Subsequently, we propose Latent Thought Distillation to overcome the latency bottleneck. By aligning the Student's latent representations with the Teacher's fully converged reasoning states, we compress deep logical capabilities into a fast, CoT-free System-1 Student. Extensive experiments on the widely-used DriveLMM-01 benchmark demonstrate remarkable improvements. Compared to the base model, our tool-free Teacher significantly boosts Multiple Choice Quality (MCQ) from 55.54% to a state-of-the-art 76.54%. Crucially, our distilled Student preserves competitive reasoning depth while drastically minimizing generation length to an average of merely 28 tokens. This slashes inference latency by 88% (from 3482 ms to 416 ms), paving a highly robust pathway for low-latency autonomous driving.Our source code is available at https://github.com/MICLAB-BUPT/CritiqueDriveVLM.
arXiv:2607.04105v1 Announce Type: new Abstract: The curve shortening--DeTurck flow introduced by Elliott and Fritz (IMA J. Numer. Anal. 37(2): 543--603, 2017) is a reparameterization of the curve shortening flow via the DeTurck trick. For corresponding discrete schemes, although the $H^1$-error estimate has been established, the optimal $L^2$-error estimate remains open due to technical difficulties. In this paper, we prove optimal $L^2$-error estimates for linearized Euler and Crank--Nicolson discretizations combined with finite elements of degree $k\ge 1$ in space. Moreover, we provide an extrinsic approach to derive the curve shortening--DeTurck flow. Numerical experiments are presented to illustrate the mesh distribution properties and to verify the convergence rates in both space and time.
arXiv:2607.04169v1 Announce Type: new Abstract: Recent research has achieved remarkable novel view rendering and scene reconstruction results with Neural Radiance Field (NeRF), including extensions to the LiDAR modality. Few studies have, however, explored the key design differences between RGB NeRFs and LiDAR NeRFs, particularly considering their underlying working principles. In this work, we provide both theoretical and empirical evidence suggesting that the density of volume sampling plays a significant role in LiDAR NeRF. Based on this finding, we propose a novel Neural LiDAR Bundle Adjustment (NeLD-BA) algorithm, which is tailored using efficient volume sampling of LiDAR rays for joint optimization of LiDAR map and poses. Extensive experiments are performed using the Newer College and FusionPortable datasets to demonstrate the proposed NeLD-BA's state-of-the-art performance in multi-view point cloud registration and 3D mapping. We will open-source our code for the community.
arXiv:2607.04235v1 Announce Type: new Abstract: Large language model agents operate in partially observable, long-horizon settings where obtaining supervision remains a major bottleneck. We address this by utilizing a source of supervision overlooked in existing post-training methods: unintended yet successful goals embedded within agent rollouts. Specifically, we introduce Hindsight Supervised Learning (HSL), where an auxiliary LLM reviews each completed trajectory and relabels it with all of the natural-language goals the agent actually achieved. HSL then pairs the trajectory with its relabeled goals and uses these pairs for additional fine-tuning. To mitigate suboptimality in the relabeled data, we propose two learning techniques for HSL, irrelevant-action masking and sample reweighting. Our experiments show that HSL is flexible and compatible with existing post-training pipelines. It improves both SFT and DPO, with larger gains on long-horizon tasks with more diverse goal spaces. Moreover, HSL is sample-efficient: on ALFWorld, it surpasses baselines trained on the full dataset while using only one quarter of the ground-truth demonstrations.
arXiv:2607.04292v1 Announce Type: new Abstract: Ransomware has evolved into a complex, adaptive, and fast-moving adversary category in which static signatures and monolithic classifiers fail to generalise under concept drift, evasion, and behavioural polymorphism. In this paper, we present Agentic SABRE (Semantic-Behavioural Arbitration for Ransomware Evaluation), an uncertainty-aware, neuro-symbolic, multi-agent framework for adaptive ransomware detection. SABRE fuses semantic, representation-based evidence with behavioural, time-window forensic telemetry and employs Monte Carlo Dropout inference to quantify epistemic uncertainty for each agent. We introduce a decision-layer orchestrator that performs risk- and uncertainty-aware triage using two interpretable thresholds: a risk score and an uncertainty budget. High-confidence, high-risk samples are automatically contained, while uncertain or borderline cases are escalated to human analysts, establishing a flexible computational contract between autonomous response and analyst oversight. To support auditability and trust, SABRE integrates post-hoc explainability mechanisms, including gradient saliency, permutation importance, and counterfactual analysis, enabling both local and global interpretation of agent decisions. Extensive evaluation on RDset and RanSMAP demonstrates that Agentic SABRE preserves perfect discrimination on saturated semantic datasets, with AUC equal to 1.0, while improving robustness under weak behavioural signals. It achieves up to a 4.9 percent relative reduction in false escalations at equal recall while maintaining calibrated predictive uncertainty. Counterfactual analysis further shows that semantic and behavioural decisions can be reversed with bounded perturbation cost, indicating stable and interpretable decision boundaries.
arXiv:2607.04304v1 Announce Type: new Abstract: Traditional semantic segmentation models operate under a closed-set assumption and struggle to recognize unknown or unexpected objects-an essential capability for autonomous driving. As a result, such models often misclassify or overlook out-of-distribution (OOD) road anomalies, posing safety risks in open-world environments. We present a lightweight, postprocessing, road-aware anomaly segmentation framework that requires no retraining, no OOD data, and no auxiliary supervision. Our approach builds on a mask transformer-based segmentation network by exploiting query-level mask confidence and deriving a polygonal road prior to detect gap regions that may correspond to anomalies. To further suppress false positives, we introduce a CLIP-based zero-shot semantic filtering module using in-distribution prompts, with optional generalized OOD prompts. By jointly leveraging spatial priors and semantic verification, our framework produces robust and interpretable anomaly predictions. Evaluation on three public benchmarks-Fishyscapes, SMIYC, and RoadAnomaly-shows consistently strong performance. In particular, our method outperforms the training-free baseline Maskomaly on most metrics and achieves the highest AP on Fishyscapes LostAndFound. These results demonstrate the practicality and deployability of our approach for real-world autonomous driving systems.
arXiv:2607.04306v1 Announce Type: new Abstract: Distilling a fine-tuned teacher into a LoRA-adapted student is a standard recipe for parameter-efficient compression, but output-level KD does not explicitly control which rank-$r$ weight subspace the adapter occupies. We propose \textbf{SAD-LoRA} (\textbf{S}pectral \textbf{A}lignment \textbf{D}istillation), which selects this subspace from the data-weighted student-space reference update $\DWT\Sigx^{1/2}$ and maintains it during training via a differentiable principal-angle loss on $\colspan(B)$. We show that the data-weighted distillation error decomposes exactly into subspace misalignment, within-subspace coefficient mismatch, and irreducible rank residual; standard KD can affect the first term only indirectly through output gradients. On controlled synthetic problems with a flat teacher spectrum, SAD-LoRA reduces the subspace-misalignment term from $51\%$ to nearly zero and lifts final subspace alignment from $0.49$ to $1.00$. On RoBERTa-large to RoBERTa-base distillation across six GLUE tasks, SAD-LoRA improves rank efficiency: at $r{=}4$, it matches or beats the strongest included spectral baseline on five of six tasks, and at $r{=}8$ it gives the best result on SST-2 and CoLA. Ablations identify subspace alignment as the load-bearing component, while coefficient matching is auxiliary.
arXiv:2607.04879v1 Announce Type: new Abstract: Although multi-source fusion positioning systems have achieved significant progress, accurate and reliable heading estimation remains a critical challenge due to the lack of gravitational constraints and the inherent weak observability of heading in complex environments. Most existing methodologies are specifically tailored for the startup phase, relying on a singular initial alignment to establish the heading reference. Consequently, these approaches lack the adaptability required to refine heading estimates dynamically, which renders the system highly vulnerable to accumulated drift and observation noise during prolonged navigation or immediately following GNSS signal outages. To address these limitations, this paper proposes WinTA-GIL, a novel heading refinement framework that integrates information from Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), and Light Detection and Ranging (LiDAR) through a temporal window-based optimization strategy. Unlike conventional alignment methods restricted to the startup phase, WinTA-GIL leverages high-precision local trajectories from LiDAR-Inertial Odometry (LIO) to register against filtered GNSS observations. This approach transforms heading estimation into a repeatable, trajectory-based consistency optimization problem. In particular, an adaptive re-estimation mechanism based on state discrimination is incorporated to trigger heading corrections whenever necessary, thereby effectively suppressing the inertial drift accumulated during challenging conditions. Extensive experiments on both open-source and self-collected datasets demonstrate that WinTA-GIL significantly outperforms state-of-the-art approaches in both estimation accuracy and system robustness.
arXiv:2607.04430v1 Announce Type: new Abstract: Large language models (LLMs) are increasingly deployed in question answering (QA) systems, yet they may generate hallucinated or misaligned responses without reliable confidence estimates. Uncertainty quantification (UQ) offers a natural basis for selective answering, where a system answers only when its prediction is deemed reliable and abstains otherwise. However, existing uncertainty scores for LLMs are often heuristic: a threshold chosen on such scores does not, by itself, provide statistical guarantees on the error rate among accepted answers. We propose CIC, a confidence-interval-based calibration framework that converts arbitrary uncertainty scores into risk-controlled selective answering rules. Given a held-out calibration set, CIC evaluates each generated response using an application-specific alignment criterion and associates it with an uncertainty score and a binary error label. For each candidate uncertainty threshold, CIC estimates the acceptance-conditioned error rate and constructs a high-probability upper confidence bound using either Hoeffding-style or Clopper-Pearson confidence intervals. It then selects the largest threshold whose upper bound is below a user-specified risk level $\alpha$, thereby maximizing the answering rate subject to a finite-sample reliability constraint. Under exchangeability, CIC guarantees with probability at least $1-\delta$ that the selected threshold, if non-null, controls the error rate among accepted answers at level $\alpha$. We evaluate CIC on both closed-ended and open-ended QA benchmarks across seven LLMs and multiple uncertainty estimators. Experimental results show that CIC consistently achieves valid risk control while retaining strong answering efficiency, providing a practical and statistically grounded mechanism for deploying LLMs in reliability-sensitive QA workflows.