arXiv:2607.04595v1 Announce Type: new Abstract: Most classification problems assume the classes are roughly separable, so that an individual sample can usually be assigned to one class. Single-cell perturbation data violates this assumption: two perturbations can produce different populations of cells while overlapping so much that an individual cell could belong to either. Per-cell accuracy then measures this overlap rather than model quality. We see this on Tahoe-100M and the Virtual Cell Challenge, where a linear classifier, an MLP, and a Transformer all plateau near macro-F1 0.2-0.3 even though almost every pair of perturbations is statistically distinguishable. The fix is to score perturbations across the whole population rather than cell by cell. We average a classifier's per-cell probability vectors over all cells of a perturbation to form a population profile, then rank candidate perturbations by this profile; we call the resulting score the Classifier Discrimination Score (CDS). Taking the top-ranked class recovers the winning perturbation. It needs no retraining, costs linear time in the number of cells, and recovers near-perfect identification from the same weak models. CDS differs from the pseudobulk-based Perturbation Discrimination Score (PDS) used in recent benchmarks only in where the average is taken, raw gene expression for PDS versus a learned discriminative space for CDS, and identifies the true perturbation more reliably on both datasets, with the gap widening as cells grow scarce. Because a metric that misranks the ground truth will misrank the models scored against it, per-cell accuracy and raw-pseudobulk scores should be used with caution when comparing perturbation models.
Science Journals
arXiv:2607.04646v1 Announce Type: new Abstract: We construct a non-Hermitian Dirac-vortex model that combines a complex-mass winding with an infinite-imaginary-potential boundary, extending the Jackiw-Rossi and neutrino-billiard models to the dissipative regime. Moreover, this model serves as a minimal theory for the recently proposed topological-cavity surfaceemitting laser (TCSEL): the imaginary mass encodes vertical radiation loss and the absorbing boundary defines the active region. We derive closed-form expressions for the modal frequencies, thresholds, and tunable vectorbeam polarizations, which are validated experimentally. Our work provides a rare example in which an analytical non-Hermitian topological theory captures the essential physics for engineering practical optoelectronic devices.
arXiv:2607.00032v3 Announce Type: replace Abstract: Many information systems are built around documents: self-contained units optimised for print production and linear reading. While effective for large-scale dissemination, the document-centric organisation constrains how knowledge can be structured, updated, shared, and reused. Formal approaches address some of these limitations but struggle to achieve widespread contribution and adoption due to their prioritisation of formal structure over other system properties such as human usability and scope. AI systems are reshaping document production, but without providing a unified portable alternative to traditional documents for humans' expression and exchange of knowledge. This paper presents MMM, a data model for knowledge documentation that emerged from the practical needs of interdisciplinary collaborative research, and positioned here within a comparative analysis of the design space of information systems. MMM combines a small set of normative constraints with the expressive freedom of free-text labels. It is designed for interoperability across disciplines, applications and deployments without requiring semantic convergence. A reference implementation and pilot deployment data demonstrate implementability and early usability.
arXiv:2607.00143v2 Announce Type: replace Abstract: Online hate speech has been linked to a global rise in violence against minorities, including incidents such as mass shootings, lynchings, and ethnic cleansing. Societies grappling with this issue, particularly when hate speech targets specific groups based on religion, race, ethnicity, culture, nationality, or migration status, face the challenge of balancing freedom of expression with the need for effective content moderation on widely used online platforms. In response to this challenge, we introduce a comprehensive hate speech dataset covering five distinct topics in Turkish: refugees, the Israel-Palestine conflict, anti-Greek sentiment in Turkey, ethnic or religious communities (Alevis, Armenians, Arabs, Jews, and Kurds), and LGBTI+, alongside one topic in Arabic (refugees). In addition, we develop state-of-the-art BERT-based models to address multiple dimensions of hate speech analysis, including hate category classification, hate intensity prediction, target identification, and hate speech span detection, enabling a comprehensive understanding of hateful content in online discourse.
arXiv:2607.00199v2 Announce Type: replace Abstract: We propose the arbitrary Lagrangian-Eulerian (ALE) form of the Galerkin-Boltzmann formulation for the simulation of nearly incompressible flows with moving boundaries. The continuous Boltzmann equations are mapped to a reference state to compensate the mesh motion with an advection term. The resulting system is discretized in space using the discontinuous Galerkin method on unstructured meshes. A semi-analytic Runge-Kutta time discretization is used to overcome the stiffness introduced by the continuous Boltzmann equations. The well-known geometric conservation law is shown to be satisfied by the time and space discretizations and consistent update of geometric factors of the discretization. The implementation is on the GPU accelerated kernel library libParanumal and validated by a free stream preservation and moving Taylor-Green vortex test cases. Then, the capabilities are shown using a plunging symmetric airfoil in two-dimensions and moving carangiform fish in three-dimensions using perfectly matched layers.
arXiv:2607.00435v2 Announce Type: replace Abstract: Social coding platforms such as GitHub host millions of repositories, yet many suffer from high mortality rates. Despite this, several survival factors remain poorly understood. Human capital is widely recognized as essential. Social attention, while often assumed to be a lifeline, can become a liability. Structural features that improve onboarding, such as code readability and documentation, may also accelerate the cessation of active development when combined with massive visibility. To examine these dynamics, we analyzed more than 73,000 GitHub repositories using an Accelerated Failure Time (AFT) survival framework, which accounts for the time-varying nature of predictors. Our study identifies human capital as the most critical determinant of project survival. In contrast, excessive social attention emerges as a liability, and when coupled with accessibility features, it amplifies the risk of project inactivity. Importantly, when the number of contributors interacts with social popularity, the protective effect of labor becomes visible, highlighting the need for governance strategies that balance visibility with labor capacity to ensure the long-term resilience of open-source projects.
arXiv:2310.00505v3 Announce Type: replace Abstract: Fetal health classification is a critical task in obstetrics, enabling early identification and management of potential health problems. However, it remains challenging due to data complexity and limited labeled samples. This research paper presents a novel machine-learning approach for fetal health classification, leveraging a LightGBM classifier trained on a comprehensive dataset. The proposed model achieves an impressive accuracy of 98.31% on a test set. Our findings demonstrate the potential of machine learning in enhancing fetal health classification, offering a more objective and accurate assessment. Notably, our approach combines various features, such as fetal heart rate, uterine contractions, and maternal blood pressure, to provide a comprehensive evaluation. This methodology holds promise for improving early detection and treatment of fetal health issues, ensuring better outcomes for both mothers and babies. Beyond the high accuracy achieved, the novelty of our approach lies in its comprehensive feature selection and assessment methodology. By incorporating multiple data points, our model offers a more holistic and reliable evaluation compared to traditional methods. This research has significant implications in the field of obstetrics, paving the way for advancements in early detection and intervention of fetal health concerns. Future work involves validating the model on a larger dataset and developing a clinical application. Ultimately, we anticipate that our research will revolutionize the assessment and management of fetal health, contributing to improved healthcare outcomes for expectant mothers and their babies.
arXiv:2607.02843v1 Announce Type: cross Abstract: This paper introduces the voltage stability kernel (VSK), a cofactor-based bus-wise representation of voltage stability in lossy power systems. The VSK is defined as the vector of principal cofactors of the voltage stability Laplacian (VSL), a reduced Jacobian that retains voltage source internal angles while eliminating the other variables. We show that the VSK constitutes the left kernel of the VSL, which is typically nonsymmetric in lossy power systems. We also define the voltage stability margin (VSM) as the sum of all VSK components and show that it is equal to the product of all eigenvalues of the VSL except the trivial zero eigenvalue due to phase-shift symmetry. Thus, the VSK provides a bus-wise decomposition of the VSM. Furthermore, the VSK offers an algebraic interpretation of CPF calculations with a fixed slack bus. The singularity of the Jacobian in CPF calculations obtained by deleting the slack-bus row and column is characterized by the vanishing of the VSK component selected by the slack bus. In contrast, the static bifurcation is characterized by the vanishing of the VSM. Since these two conditions are generally different, our theory explains why a CPF nose point does not necessarily correspond to a static bifurcation in lossy cases.
arXiv:2607.00448v2 Announce Type: replace Abstract: The two-tower model has been widely used for large-scale recommendation systems, particularly in the retrieval stage. Industry standards for training two-tower models typically involve in-batch and/or out-of-batch negative sampling. However, these methods often produce easy negatives that models can quickly learn, failing to sufficiently challenge the model. To address this issue, a novel self-supervised hard negative sampling technique is proposed that leverages a large language model (LLM) to generate hard negatives from the same cluster during model training. By utilizing the LLM to learn media representations, the proposed approach ensures that the generated negatives are more challenging and informative. This real-time sampling framework is designed for seamless integration into production models, capable of handling billions of training data points with minimal computational complexity. Experiments on public datasets, along with deployment to a large-scale online system, demonstrate that the proposed negative sampling technique outperforms widely used industry methods. Furthermore, analysis in industrial applications reveals that this sampling method can help break inherent feedback loops in recommendations and significantly reduce popularity bias.
arXiv:2607.00527v2 Announce Type: replace Abstract: Generative AI now enables games to produce dialogue, quests, characters, images, and worlds at runtime. Yet generation alone does not make a game AI-native, nor does it guarantee playability. This paper defines AI-native games by whether runtime generative AI is constitutive of the core loop: if the AI component were removed or trivially replaced, the central form of play would collapse or become fundamentally different. This counterfactual criterion separates AI-native games from AI-augmented games and adjacent boundary artifacts. Using this definition, we screen candidate artifacts and analyze 53 publicly available AI-native games and prototypes. We introduce a dual-axis G/N taxonomy: the G-axis captures player-facing game type, while the N-axis captures the dominant AI mechanic that makes generative AI indispensable to play. The corpus is concentrated around language-forward designs, especially narrative adventure, epistemic interaction, and generative narrative, while categories such as semantic adjudication, multi-agent simulation, generative construction, and relationship/companion play remain less represented. We argue that the central design problem is organizing semantic openness into stable gameplay. AI-native design depends on mechanical invariants: goals, rules, state, feedback, pacing, and player agency that make open-ended AI outputs interpretable and consequential. We conclude with a roadmap for controllable generation, AI-as-mechanic design, multimodal and multi-agent systems, inference economics, evaluation, safety, and regulation.
arXiv:2607.00591v2 Announce Type: replace Abstract: With the increasing deployment of heterogeneous robot fleets in industrial environments, efficient coordination remains a critical challenge. Real-time path planning must simultaneously accommodate high robot densities and heterogeneous motion capabilities, while communication delays, execution uncertainties, and other disturbances may cause robots to deviate from the temporal assumptions underlying planned paths. Such deviations can lead to excessive waiting and congestion propagation across the fleet. This paper presents SCALE, a reactive online coordination framework that enables real-time planning while maintaining robust execution. Within this framework, we introduce a motion-induced conflict reduction mechanism to support the online generation of feasible paths for online conflict resolution. To mitigate the effects of disturbances, we further design a generalized Conjugate Action-Precedence Hypergraph (CAPH) that adaptively adjusts precedence relations among robots. Extensive validation experiments, together with a three-day deployment in a warehouse, demonstrate the
arXiv:2607.00597v2 Announce Type: replace Abstract: Scientific literature search often requires more than retrieving papers from a single query: users' intents are underspecified, preference-dependent, and evolve through interaction. Existing search agents typically rely on fixed pipelines or implicit language-only reasoning, making their search strategies difficult to control, inspect, and refine. We introduce PaperPilot, a multi-turn literature search agent that frames scientific search as workflow induction. Given an anchor paper and a user query, PaperPilot constructs an executable DAG of paper-search operators, including keyword search, citation expansion, filtering, scoring, reranking, and evidence extraction. User feedback is then used to refine both the query and the workflow itself. We train PaperPilot with supervised workflow imitation and preference optimization over controlled workflow corruptions. Experiments show that PaperPilot-9B improves over the base Qwen3.5-9B toolset agent under multi-turn interaction, increasing Hit@5 from 58.0 to 77.0, MRR from 47.5 to 59.4, and nDCG@10 from 26.8 to 32.5, while reducing workflow execution errors from 9.5% to 0%. These results show that explicit, editable search workflows provide an effective and controllable interface for aligning literature search agents with complex scientific intent.
arXiv:2607.02357v2 Announce Type: replace Abstract: LLM coding agents increasingly rely on third-party agent skills from public marketplaces, which execute with the agent's privileges and create a software supply-chain attack surface: a malicious skill can steal credentials, exfiltrate source code, or install backdoors. Existing defenses use static skill scanners based on pattern matching or LLM-as-judge analysis, but it remains unclear whether they withstand adaptive evasions that preserve malicious behavior while changing payload appearance. This paper first presents an adversarial study of existing skill scanners through SkillCloak, a payload-preserving evasion framework that keeps the attack semantics intact while transforming their visible form. SkillCloak uses two complementary strategies: Structural Obfuscation, which rewrites visible payload indicators into semantically equivalent forms, and Self-Extracting Skill (SFS) Packing, which hides malicious components from the install-time view and restores them during agent execution. Across eight scanners and 1,613 in-the-wild malicious skills, SFS Packing bypasses every scanner at over 90%, while Structural Obfuscation bypasses over 80% on most static scanners and reaches 96% on a hybrid scanner, showing that appearance-based auditing is insufficient. Motivated by this finding, we propose SkillDetonate, a behavior-centric runtime auditor that executes skills in a sandbox and detects malicious effects through OS-boundary information-flow evidence rather than install-time appearance. SkillDetonate combines on-demand closure lift, which observes instructions materialized during execution, with marker-based taint analysis, which tracks sensitive-data flows across the agent context, files, processes, and network operations. The results show that SkillDetonate detects 97% of attacks at a 2% false-positive rate and sustains 87% detection on real-world malicious skills.
arXiv:2607.04256v1 Announce Type: new Abstract: Current feed-forward 3D reconstruction methods predict pixel aligned Gaussian primitives, resulting in highly redundant representations. A natural solution is to prune the redundant Gaussians, but naive pruning introduces severe artifacts and often requires inference time fine-tuning, breaking the feed-forward paradigm. Based on previous works, high frequency regions require more Gaussian primitives, while low frequency regions can be represented with significantly fewer primitives. Motivated by this, we propose a novel approach to explicitly control the number of Gaussians by leveraging local texture information. Our approach achieves this through three key components: (1) texture estimation to capture spatial variation in scene detail, (2) texture-aware pruning that removes redundant Gaussians from low frequency regions, and (3) an adaptive Gaussian head that predicts the modified attributes of the retained primitives without breaking the feed-forward paradigm. Experiments on RE10K, ACID, DL3DV, Tanks and Temples, and DTU demonstrate the effectiveness of our approach, while ablation studies validate the contributions of its key components.
arXiv:2607.04270v1 Announce Type: new Abstract: Large language models (LLMs) have recently emerged as powerful backbones for recommender systems by reformulating recommendation as a token-level generation task. Despite their promise, we identify a pervasive yet underexplored issue: $\textit{Length Bias}$. Because items are represented by textual descriptions of varying lengths, LLM-based recommenders can be systematically biased in two ways. On the input side, longer item descriptions occupy more tokens in the context and thus receive disproportionately large aggregate attention mass during user preference modeling. On the output side, decoding based on summed autoregressive log-likelihood score inherently disfavors long items. Worse still, conventional length normalization can introduce an additional bias and even degrade recommendation performance. To address this problem, we propose $\textbf{LBR}$ ($\textbf{L}$ength $\textbf{B}$ias $\textbf{R}$eduction), a lightweight and model-agnostic framework for mitigating length bias in LLM-based recommendation. LBR mitigates input-side bias via Length-Aware Attention Calibration, which incorporates a length-dependent offset into attention logits to neutralize attention skew. For the output side, LBR introduces Effective Information Length Normalization, replacing naive token count with an information-theoretic length surrogate derived from the branching structure of the prefix tree. Extensive experiments on three real-world Amazon datasets and two representative LLM-based recommenders demonstrate that LBR substantially alleviates length bias while consistently improving recommendation accuracy and fairness, with negligible additional training and inference overhead (with an average NDCG@5 gain of 16.82%). The code is available at https://github.com/Void-JackLee/LBR.
WPG-MoE: Weak-Prior-Guided Dense Mixture-of-Experts for User-Level Social Media Depression Detection
arXiv:2607.04350v1 Announce Type: new Abstract: Online social media posts provide scalable signals for early depression screening, and recent studies mainly improve pre-classification evidence through risk-post selection, symptom grounding, and clinically informed feature construction. However, these screening-stage designs often leave final decisions to a single detector, overlooking how users heterogeneously express depressive risk after screening. A monolithic classifier must average across heterogeneous users, which may dilute localized evidence and cause misclassification, especially for non-self-disclosing users. To address this issue, we propose WPG-MoE, a weak-prior-guided dense mixture-of-experts framework built on a shared large language model (LLM) backbone. WPG-MoE derives user-level weak semantic priors to softly route users to experts matched to different evidence layouts. We formulate this process as learning using privileged information (LUPI): rich LLM-extracted structured evidence guides training-time routing, while inference retains only Patient Health Questionnaire-9 (PHQ-9) template screening and the deployable backbone. Experiments on Chinese and English datasets show that WPG-MoE outperforms strong baselines with interpretable routing behavior.
arXiv:2607.05311v1 Announce Type: new Abstract: Male infertility contributes substantially to the global infertility burden, and sperm analysis remains central to diagnosis, treatment planning, and assisted reproductive technology. Conventional semen evaluation, however, is labor-intensive, operator-dependent, and limited by inter- and intra-observer variability, motivating the development of objective and reproducible computational approaches. This review provides a comprehensive and perspective-oriented synthesis of artificial intelligence-driven sperm analysis, with a focus on computer vision, deep learning, multimodal fusion, robustness, and clinical translation. We first review task-specific methods for sperm detection and counting, tracking-based motility assessment, semantic and instance segmentation, morphology and defect classification, functional assessment, and genetic integrity evaluation. We then summarize public datasets, benchmarks, evaluation metrics, and emerging multimodal strategies that integrate microscopic images, time-lapse videos, CASA-derived parameters, DNA integrity assays, and clinical metadata. Beyond algorithmic performance, we discuss key barriers to real-world deployment, including data scarcity, cross-center domain shift, annotation inconsistency, interpretability, uncertainty calibration, privacy-preserving learning, and workflow integration. Finally, we outline a staged clinical translation roadmap spanning technical standardization, multicenter retrospective validation, silent prospective evaluation, human-in-the-loop clinical testing, ART outcome validation, regulatory approval, and post-market monitoring. By organizing the field from task-specific visual recognition to trustworthy multimodal reproductive intelligence, this review highlights both the progress and the unresolved challenges required to translate AI-driven sperm analysis into clinically meaningful decision support.
arXiv:2607.00678v2 Announce Type: replace Abstract: Mobile manipulation is a key capability for general-purpose robots, yet remains challenging for current embodied learning methods. VLA policies are typically reactive and lack explicit world modeling, while existing World Action Models (WAMs) are still poorly aligned with the structure of mobile manipulation: they operate on coarse video chunks, model entangled navigation-manipulation actions, and train inverse dynamics under supervision that does not match autoregressive inference. As a result, they often miss fine-grained contact dynamics, suffer from action-distribution conflicts, and accumulate errors over long-horizon rollouts. We propose ABot-M0.5, a new WAM built on the insight that mobile manipulation requires alignment at three levels: temporal granularity, action space, and train-test consistency. To align temporal granularity, we introduce intermediate latent actions that capture local visual state transitions and serve as an bridging action space between video latents and embodiment-specific controls. To align action space, we design a dual-level Mixture-of-Transformers architecture that disentangles both modality representations and heterogeneous action subspaces such as base movement and arm manipulation. To align inference conditions, we propose the dream-forcing training strategy that progressively trains inverse dynamics on model-predicted videos, improving train-test alignment and robustness during autoregressive prediction. Experiments on challenging mobile and fine-grained manipulation benchmarks demonstrate that ABot-M0.5 achieves state-of-the-art performance in both long-horizon task success and finegrained control accuracy. These results highlight the critical importance of granularity-aligned, action-disentangled, and inference-consistent world-action modeling.
arXiv:2607.00832v2 Announce Type: replace Abstract: A single panorama captures the full visual sphere from one camera center, yet confines users to looking around in place without enabling true scene exploration. Converting a single panorama into a persistent, renderable 3D representation for free-viewpoint navigation has attracted growing interest; existing methods either adopt iterative per-view completion that propagates inpainting results to update the underlying geometry, leading to progressive error accumulation and cumbersome multi-step pipelines, or leverage the temporal consistency priors of video generation models, yet the continuous-trajectory constraint intrinsic to such models limits their flexibility in covering scenes from multiple directions simultaneously. We present Pano2World, which takes a single indoor panorama as input and directly outputs a persistent, explorable 3D Gaussian scene. Given the source panorama, Pano2World first reconstructs a coarse 3D Gaussian proxy and renders it at adaptively sampled nearby poses to obtain geometrically aligned guidance panoramas; a panoramic diffusion model then jointly denoises all target views via View-Aware Attention Routing, where each target view simultaneously receives geometric constraints from its corresponding guidance panorama and global semantic guidance from the source panorama, naturally enforcing cross-view consistency. To avoid the information loss incurred by decoding the multi-view hidden features formed during joint denoising back to the pixel domain via VAE, we introduce Latent Feature Adapter, a geometry-aware bridge module that directly distills these hidden features into a scene latent, subsequently decoded into the final 3D Gaussian scene. Experiments demonstrate that Pano2World significantly outperforms existing methods on the multi-position panoramic novel-view synthesis benchmark.
arXiv:2607.00874v2 Announce Type: replace Abstract: This paper introduces a probabilistic framework and hybrid validation methodology for V2X-enabled Collective Perception (CP) in complex traffic scenarios. The proposed Bayesian fusion algorithm extends the perceptual horizon of connected and autonomous vehicles by integrating heterogeneous sensor observations from multiple agents into a shared probabilistic occupancy grid. Each cell of this grid encapsulates both occupancy likelihood and uncertainty, enabling explainable and trustworthy situational awareness beyond the ego vehicle's field of view. To bridge the gap between simulation and real-world evaluation, a hybrid testing framework is developed, combining CARLA-based virtual environments with vehicle-in-the-loop experimentation. Experimental results in a roundabout scenario demonstrate a 260 percent increase in field-of-view coverage and a rise in occupied-cell recall from 0.82 (ego-only) to 0.94 (six-agent CP) under nominal localization conditions. Overall, the proposed approach provides a reproducible and interpretable foundation for validating CP systems, supporting the safe and certifiable deployment of cooperative autonomous vehicles.
arXiv:2607.00911v2 Announce Type: replace Abstract: AI coding agents increasingly rely on skills: structured context bundles, typically a SKILL$.$md file with a YAML header and Markdown body, loaded on demand for domain knowledge, workflows, and scripts. Public registries such as skills$.$sh now host tens of thousands of skills, making them an emerging unit of reuse in agent-based software engineering. Yet skills have largely been viewed as agent capabilities rather than software artefacts whose content and evolution shape agent behaviour. We present the first empirical study of AI agent skills as engineered artefacts that are authored, reused, customised and maintained, across public registries and personal-use repositories. We mined 18,463 skills from skills$.$sh and 23,199 personal-use skills from 5,876 GitHub repositories, identifying 3,709 reuse links. LLM-based classification into SWEBOK knowledge areas (KAs) shows Software Construction dominates alongside a long tail of specialised areas. A thematic analysis of 180 skills identifies six content categories. Qualitative coding of 444 modifications reveals six themes, of which reworking operational specifications and adapting knowledge and resources are the primary target of change. Our findings show that reuse is largely a one-time copy operation: most reused skills remain near-verbatim, 53% are never modified after adoption, and subsequent local maintenance is overwhelmingly additive. Customisation primarily adapts skills to local environments, whereas evolution accretes new inline domain knowledge. Across both, a stable behavioural contract - how a skill interacts with users, monitors runtime state, and recovers from failures - remains almost untouched. These results suggest maintenance effort should focus on project-specific bindings, and that registries and tool support should enable consolidating the domain knowledge skills re-author in isolation.
arXiv:2607.00955v2 Announce Type: replace Abstract: Implicit neural representations (INRs) are well suited to cardiac motion estimation, providing continuous, compact representations of motion fields. However, fitting an INR to each image sequence is time-consuming and sensitive to the optimisation trajectory. Learned priors can help guide optimisation towards plausible motion fields and enable faster adaptation, but learning priors for cardiac motion INRs remains under-explored. In this work, we compare four strategies for learning cardiac motion priors, including a population prior learned by joint optimisation, a consensus prior obtained by weight averaging, auto-decoders, and meta-learning. Using short-axis tagged cardiac magnetic resonance images from the UK Biobank, we evaluate their impact on tracking accuracy, motion behaviour, and adaptation trajectory. All learned priors substantially improved early adaptation performance compared with random initialisation. While the simple consensus prior was effective, auto-decoders recovered large deformations faster during early adaptation. Meta-learning achieved strong early performance and maintained the best adaptation trajectory over 50 iterations.
arXiv:2607.01012v2 Announce Type: replace Abstract: Data assimilation models state dynamics conditioned on sequential observations, and has wide-ranging scientific applications. In the filtering setting, the goal is to model the posterior over the current state given all observations so far. Classical solutions typically make simplifying distributional or functional assumptions, e.g., linear-Gaussian systems, which can be inaccurate in many scenarios. In principle, particle filters (PFs) remove these assumptions, yet often collapse in high dimensions. Recent generative approaches learn conditional state transitions, but without principled Bayesian updates they do not recover the correct filtering posterior and can accumulate error over long horizons. In this work, we introduce Flow Proposal Particle Filters (FPPF), which learn a conditional generative model based proposal approximating the variance-minimizing optimal proposal for particle propagation. Conditioning on observations steers particles toward high-likelihood regions before weighting, reducing weight variance and delaying degeneracy. Since our proposal admits tractable likelihood evaluation, FPPF computes accurate importance weights and retains a Bayesian update step. We further extend FPPF to high-dimensional problems through localization strategies, adressing another standard PF failure mode. Extensive experiments on a variety of dynamical systems show that FPPF outperforms statistical baselines and other generative methods in non-linear, non-Gaussian, and high-dimensional regimes.
arXiv:2607.01051v2 Announce Type: replace Abstract: Different stages of manipulation tasks exhibit varying levels of difficulty, suggesting stage-dependent motion speeds and temporal prediction horizons. However, existing IL-based visuomotor policies typically imitate the execution speed of expert demonstrations and operate with a fixed temporal prediction horizon, limiting flexibility and overall task throughput. In this paper, we introduce AutoSpeed, a model-agnostic learning framework that enables existing visuomotor policies to predict trajectories with stage-adaptive motion speeds, without requiring speed or stage annotations. We treat future trajectories at different speeds as candidate optimization targets, evaluate each candidate using a composite cost that trades off prediction error against prediction horizon, and optimize the policy toward the minimum-cost candidate. With a fixed-length action sequence, speed modulation adjusts the effective temporal prediction horizon: simple stages are executed faster with a longer prediction horizon, whereas complex stages are executed more slowly with a shorter prediction horizon. Specifically, we implement speed modulation in the frequency domain via the discrete cosine transform (DCT), which enables smooth, non-integer speed scaling and thus preserves motion continuity. Extensive evaluations show that AutoSpeed substantially reduces task execution time while also improving success rates. Under the AutoSpeed framework, the inferred motion speeds exhibit a strong correspondence with task stages.
arXiv:2607.01087v2 Announce Type: replace Abstract: Generative AI is shifting software engineering from a practice organized around scarce implementation effort toward one organized around abundant, low-cost code production. This shift changes the central engineering problem: not whether AI can generate useful code, but how engineers organize architectures, tools, evidence, and feedback loops so that AI-mediated development remains inspectable, correctable, and maintainable. We study this problem through a first-person case study: a 12-week development effort in which a single expert software engineer used frontier AI coding agents to build a document accessibility remediation system. The empirical record comprises 88 contemporaneous field notes, 420 KLOC of production code, and 1.16 MLOC of tests, lints, supporting documentation, and agent tooling. From this record, we develop a candidate middle-range theory of governance conversion, expressed as a process model explaining how high-velocity agentic implementation becomes governable. The model explains how agentic implementation velocity surfaces recurring structural failure classes, and how engineering judgment sustains velocity by converting those failures into durable governance mechanisms. In contrast to existing governance models that derive controls from known obligations, governance conversion explains how controls are discovered from failures that become visible only during agentic work. We use our model to make testable predictions and to describe implications for software engineering research and practice.