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Science Journals

Peer-reviewade publikationer — 61539 artiklar

GORIO: GPU-Centered Remote I/O for Graph ANNS over NVMe-oF
arXiv:2607.04415v2 Announce Type: replace Abstract: Graph-based approximate nearest neighbor search (ANNS) is increasingly used in vector databases and retrieval-augmented generation services, but large vector indexes often exceed the memory capacity of a single GPU server. NVMe over Fabrics (NVMe-oF) provides an attractive storage-disaggregation substrate, yet existing remote storage paths are still largely CPU-centered: the CPU forms I/O requests, drives transport progress, and determines when GPU computation can resume. This organization is poorly matched to graph ANNS, where the next data access is discovered inside GPU graph traversal. This paper presents GORIO, a system study that extends GPU-centered local I/O to remote storage and specializes the resulting substrate for graph ANNS over NVMe-oF. GORIO keeps query evolution, page-miss generation, pending-query state, and resume decisions on the GPU, while the CPU acts only as an NVMe-oF transport and completion proxy. The design has two layers: a GPU-direct remote I/O path that turns local page-cache misses into split-phase remote operations, and ANNS-specific scheduling mechanisms that overlap graph traversal with remote page service. On a SIFT1M DiskANN-style graph workload over an RDMA NVMe-oF path, GORIO is 1.31X faster than the state-of-the-art remote-I/O reference path and 4.89X faster than the direct remote page-cache path. These results demonstrate a concrete GPU-centered remote I/O substrate for graph ANNS.
Extending Exact Integrality Gap Computations for the Metric TSP
arXiv:2603.12995v4 Announce Type: replace-cross Abstract: The subtour relaxation of the traveling salesman problem (TSP) plays a central role in approximation algorithms and polyhedral studies of the TSP. A long-standing conjecture asserts that the integrality gap of the subtour relaxation for the metric TSP is exactly 4/3. In this paper, we extend the exact verification of this conjecture for small numbers of vertices. Using the framework introduced by Benoit and Boyd in 2008, we confirm their results up to n=10. We further show that for n=11 and n=12, the published lists of extreme points of the subtour polytope are incomplete: one extreme point is missing for n=11 and twenty-two extreme points are missing for n=12. We extend the enumeration of the extreme points of the subtour polytope to instances with up to 15 vertices in the general case. Restricted to half-integral vertices, we extend the enumeration of extreme points up to n=17. Our results provide additional support for the 4/3-Conjecture. Our lists of extreme points are available on the public bonndata repository (https://doi.org/10.60507/FK2/JK95PC).
The Granularity Paradox: How Temporal Disaggregation Inflates In-Sample Fit and Compounds Out-of-Sample Error
arXiv:2607.05450v1 Announce Type: new Abstract: This paper explores the "Granularity Paradox" in time-series forecasting, wherein finer temporal disaggregation (e.g., Monthly to Weekly/Daily) improves in-sample diagnostics and dataset size (N), but degrades out-of-sample accuracy due to recursive error compounding over longer horizons (H). Conversely, coarse aggregation (Annual) eliminates recursive error propagation but reduces data available to estimators. We formalize this trade-off and benchmark 10 models - spanning na\"ive, statistical, machine learning, and deep learning architectures - across six granularities using a 13-year public procurement dataset. The empirical results reveal a non-monotonic threshold structure: recursive autoregressive and seasonal models degrade substantially under high-frequency forecasting (e.g., Holt-Winters reaches a Test R-squared of -151 and TPFE of 425.85% at the Daily grain), while the LSTM traces a U-shaped error curve, worsening from Monthly (19.66%) through Bi-Weekly (35.94%) before overcoming the error propagation penalty at Daily (TPFE of 4.35%, R-squared of 0.66). Linear Regression remains stable across all granularities (16.3-17.0% TPFE), confirming that the paradox is driven by recursive feedback topology, not model complexity. The results demonstrate that standard pointwise metrics (RMSE, MAE) systematically mask cumulative error propagation, and that evaluating forecasts without goal-dependent cumulative metrics produces misleading assessments of model adequacy. We introduce a consensus-dissensus diagnostic comparing the directional behaviour of pointwise metrics against cumulative TPFE across granularities, enabling the identification of models whose standard diagnostics mask systematic error propagation.
On low-rank tensor train approximability for linear nearest neighbor systems
arXiv:2607.06453v1 Announce Type: new Abstract: Low-rank tensor methods are an important tool in the numerical treatment of equations with a high-dimensional state space. Nearest neighbor interaction systems like the Ising model or more general Markov jump processes, as well as 1D finite-state quantum systems are examples of such problems. While low-rank tensor train/matrix product state models have been shown to be highly efficient for the simulation of such systems, providing theoretical justification for this remains a challenging task. One approach for obtaining estimates on required ranks for certain accuracies is to investigate the rank increase in Krylov subspace methods for solving the problem at hand. In the context of area laws for ground states of 1D spin systems, nontrivial results on rank-increasing properties of nearest neighbor operator polynomials have been obtained in work of Arad et al. [arXiv:1301.1162] by studying the partial commutativity of local operators. In the present work, this technique is applied to polynomial methods for definite linear equations and dissipative linear ODEs with nearest neighbor structure. This allows to derive corresponding low-rank approximability statements for solutions of such problems which are independent of the system size. Numerical simulations of high-dimensional nearest neighbor systems illustrate the theoretical findings.
Exact 1D Nonlinear Solutions for Proton-Driven Plasma Wakefields: Benchmarking Against AWAKE Data Envelopes
arXiv:2607.06458v1 Announce Type: new Abstract: The analytical modeling of a plasma wakefield driven by a relativistic proton beam is an element in optimizing advanced plasma-based acceleration schemes. In this work, we present a 1D nonlinear fluid framework under the quasi-static approximation to describe the wake potential excited by a positively charged proton driver. We examine our model using a two-bunch pump-probe configuration, demonstrating close agreement between the analytical invariants and adaptive numerical integrations. The distinct geometric curvature changes observed at the micro-bunch boundaries are shown to be physical consequences of step-discontinuities in the second derivative of the wake potential across the beam interfaces. Furthermore, by scaling this numerical framework to a train of $N=100$ micro-bunches undergoing seeded self-modulation (SSM), we model the physical parameters of the CERN AWAKE facility ($n_0 = 7.0 \times 10^{14}\text{ cm}^{-3}$). Our model replicates the characteristic linear growth envelope and matches the calibrated field envelope boundaries of approximately $\pm 0.75\text{ GV/m}$ inferred from the experiment. This piece-wise framework provides a computationally efficient foundation for investigating customized, asymmetric micro-bunch profiles designed to optimize the transformer ratio beyond the fundamental symmetric limit of 2.
Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control
arXiv:2607.04837v2 Announce Type: replace Abstract: Large-scale humanoid motion-tracking controllers are commonly improved by reallocating training effort: difficult motions are sampled more often, isolated into smaller subsets, or assigned to specialized experts. We show that this view is incomplete. In strong whole-body-control baselines, a residual set of feasible training clips remains unsolved even under targeted training, especially for high-dynamic transitions and balance-critical motions. These failures arise not only from insufficient exposure, but from a mismatch between the motion demands and the effective capability induced by the default training recipe. We propose Athena-WBC, a compact teacher-student pipeline with capability-aligned policy experts for long-tail humanoid whole-body control. Dynamic experts use a tracking-focused, constraint-aware objective that removes conservative effort and temporal-control penalties while preserving physical feasibility constraints; balance experts use a gravity curriculum to improve early-training survivability. The resulting privileged teachers are motion-routed for DAgger distillation and then compressed into a single controller with deployable observations followed by RL fine-tuning. Experiments on a full-size humanoid show improved recovery of training-set long-tail motions and better held-out tracking than a strong SONIC-recipe baseline, using only a small number of experts.
Evaluating Massively Parallel Algorithms for DFA Minimisation, Equivalence Checking and Inclusion Checking
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.
From Global to Granular: Revealing IQA Model Performance via Correlation Surface
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.
Bridging Physical Reasoning and Task Generalization via Visual Action Outcome Reasoning Alignment
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.
The singleton hypergraph is extremal for the Isolation Lemma
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.
Automatic Association of Cloud Security Controls and Quantifiable Metrics for Certification
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.
Generalisation of Baker's Forcing Method to Arbitrary Prime and NP-hardness of Several $p$-adic Optimisations
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.
On the Group Randomness of 0-1 Real Sequences from Binary Linear Codes
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.
Against Totalitarianism -- Introduction to Tractatus Quanticum
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.
MASCA: LLM based-Multi Agents System for Credit Assessment
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.
Most LLM Conformity Needs No Speaker: Measuring the Speaker-Free Floor in Peer-Pressure Benchmarks
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.
The Agafonov and Schnorr-Stimm theorems for probabilistic automata
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 $1$.
Out-of-time-ordered correlators for turbulent fields: a quantum-classical correspondence
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.
Reachability Analysis for Power Systems with Heterogeneous Resources via Jordan Transformation
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.
Retrieval over Reasoning: A Cost-Controlled Benchmark of Language Models for Energy-Retrofit Recommendation
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.
Video-Text Temporal Localization via Multi-Scale Convolution and Dynamic Routing
arXiv:2607.05093v2 Announce Type: replace Abstract: Video-text temporal localization requires precise alignment between natural language queries and corresponding video segments, a fundamental challenge in multimodal understanding. We present a novel framework that addresses two critical limitations of existing methods: inadequate modeling of hierarchical temporal structure and inability to handle complex many-to-many correspondences between modalities. Our approach introduces a multi-scale temporal convolutional encoder that captures motion patterns across different temporal granularities - from instantaneous frame transitions to extended action sequences. We further propose a capsule-based dynamic routing mechanism that iteratively refines segment-query associations through structured agreement updates, enabling flexible modeling of non-monotonic alignments. These components are unified through a multi-task learning objective that jointly optimizes temporal boundary regression, cross-modal semantic alignment, and capsule diversity. Extensive experiments on ActivityNet Captions demonstrate significant improvements, achieving 42.9% Recall@0.5 and 41.1% mean IoU, surpassing strong transformer-based baselines while maintaining computational efficiency. Our results validate that combining hierarchical temporal modeling with structured semantic routing provides an effective solution for fine-grained video-language understanding.
DIRA-SS:Dynamic Domain Incremental Regularised Adaptation -- Self-Supervised
arXiv:2311.07461v4 Announce Type: replace Abstract: Autonomous systems (AS) often rely on Deep Neural Network (DNN) classifiers to operate in complex and dynamically changing environments. However, during operation, these classifiers may encounter domains that differ from those seen during development, causing performance degradation under distribution shift. Removing systems from operation for labelled data collection and retraining is often impractical, particularly when adaptation must occur quickly and at scale. This paper introduces DIRA-SS, a self-supervised extension of Dynamic Incremental Regularised Adaptation (DIRA) that enables online domain adaptation using only a small number of unlabelled target-domain samples. DIRA-SS augments an existing classifier with an auxiliary retraining branch and adapts the shared feature representation through a rotation-prediction task, while elastic weight consolidation regularises important source-domain parameters to reduce destructive updates. This allows the model to benefit from transfer learning without requiring classification labels during operation. We evaluate DIRA-SS on CIFAR-10C, CIFAR-100C, and ImageNet-C using ResNet architectures under severe common corruptions. The results show that DIRA-SS substantially improves performance over the non-adapted source model, achieves accuracy close to the supervised DIRA method, and outperforms existing unsupervised test-time adaptation baselines on ImageNet-C when using only 100 target-domain samples.
HJCD-IK: GPU-Accelerated Inverse Kinematics through Batched Hybrid Jacobian Coordinate Descent
arXiv:2510.07514v2 Announce Type: replace Abstract: Inverse Kinematics (IK) is a core problem in robotics, in which joint configurations are found to achieve a (collision-free) desired end-effector pose. Modern IK solvers face a fundamental trade-off: analytical methods are fast but lack generality, while numerical optimization-based methods are broadly applicable but prone to local minima and high computational costs. To overcome this challenge, we introduce HJCD-IK, a GPU-accelerated, sampling-based hybrid solver. By pairing a novel orientation-aware greedy coordinate descent initialization with Jacobian-based polishing and a parallel collision filter, our method achieves up to order-of-magnitude gains in speed and accuracy over state-of-the-art solvers, consistently finding collision-free solutions on the accuracy-latency Pareto frontier, while producing a diverse distribution of high-quality samples. We validate our solver on a physical Franka manipulator and release our code open-source.
Medix: Out-of-Distribution Detection from Unlabeled Wild Data via Robust Gradient Statistics
arXiv:2510.06505v2 Announce Type: replace Abstract: Out-of-distribution (OOD) detection plays a crucial role in ensuring the robustness of machine learning systems deployed in real-world applications. Recent approaches have explored the use of unlabeled data, showing potential for enhancing OOD detection capabilities. However, effectively utilizing unlabeled in-the-wild data remains challenging due to the mixed nature of both in-distribution (InD) and OOD samples. The lack of a distinct set of OOD samples complicates the task of training an optimal OOD classifier. In this work, we introduce Medix, a novel framework designed to identify potential outliers from unlabeled data using the median-based robust gradient statistics. We use the median because it provides a stable estimate of the central tendency, as an OOD detection mechanism, due to its robustness against noise and outliers. Using these identified outliers, along with labeled InD data, we train a robust OOD classifier. From a theoretical perspective, we derive error bounds that demonstrate Medix achieves a low error rate. Empirical results further substantiate our claims, as Medix outperforms existing methods across the board in open-world settings.
Phonon Trapping Lateral Field Excited Suspended Bulk Acoustic Wave Resonators (XBARs)
arXiv:2601.05815v2 Announce Type: replace Abstract: Film bulk acoustic wave resonators (FBARs) underpin modern wireless communication by enabling compact, high-performance RF filters in modern smartphones. Traditionally, these FBAR devices work with quasi-plane waves of sound where the transverse extent of the acoustic field $\gg$ the acoustic wavelength ($\lambda_a$). On the other hand, strong modal confinement is needed for achieving the interaction strengths necessary for building efficient microwave to optical signal transducers (MW-OT) around an FBAR opto-mechanical cavity platform. While MW-OTs have traditionally been engineered around sub-{\mu}m scale optomechanical cavities, bulk acoustic wave approaches have inherent advantages in phonon injection efficiency, optical power handling and manufacturability. A key limitation of the FBAR geometry is that the acoustic field is confined under the metal electrode which makes it challenging to engineer the small mode-volume, high quality factor optical cavities which are critical for achieving high transduction efficiency. Here, we consider lateral field excited suspended overtone bulk acoustic wave resonators (XBARs) as an alternative bulk wave platform for MW-OT, which overcome this limitation, and outline the requirements needed for building efficient MW-OT around this geometry. As a first step towards viability, we fabricate a small mode-volume phonon trapping acoustic microresonator by shaping the piezoelectric layer into a spherical lens and show an improvement in modal confinement and quality factor ($\approx$ 4$\times$).