arXiv:2512.11891v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in generalizing across diverse robotic manipulation tasks. However, deploying these models in unstructured environments remains challenging due to the critical need for simultaneous task compliance and safety assurance, particularly in preventing potential collisions during physical interactions. In this work, we introduce a Vision-Language-Safe Action (VLSA) architecture, named AEGIS, which contains a plug-and-play safety constraint (SC) layer formulated via control barrier functions. AEGIS integrates directly with existing VLA models to improve safety with theoretical guarantees, while maintaining their original instruction-following performance. To evaluate the efficacy of our architecture, we construct a comprehensive safety-critical benchmark SafeLIBERO, spanning distinct manipulation scenarios characterized by varying degrees of spatial complexity and obstacle intervention. Extensive experiments demonstrate the superiority of our method over state-of-the-art baselines. Notably, AEGIS achieves over 50% improvement in obstacle avoidance rate while substantially increasing the task success rate by nearly 10%. All benchmark datasets, code, and supplementary materials are publicly available at https://vlsa-aegis.github.io/.
Science Journals
arXiv:2601.15212v2 Announce Type: replace Abstract: Training deep computer vision models requires manual oversight or hyperparameter tuning of the learning rate (LR) schedule. While existing adaptive optimizers schedule the LR automatically, they suffer from computational and memory overhead, incompatibility with regularization, and suboptimal LR choices. In this work, we introduce the ZENITH (Zero-overhead Evolution using Norm-Informed Training History) optimizer, which adapts the LR using the temporal evolution of the gradient norm. Image classification experiments spanning 6 CNN architectures and 6 benchmarks demonstrate that ZENITH achieves higher test accuracy in lower wall-clock time than baselines. It also yielded superior mAP in object detection, keypoint detection, and instance segmentation on MS COCO using the R-CNN family of models. Furthermore, its compatibility with regularization enables even better generalization.
arXiv:2607.02120v1 Announce Type: cross Abstract: Ultra-thin films are fundamental components of modern nanoelectronics, where reducing thickness to the few-nanometer scale leads to a dramatic increase in electrical resistivity. For decades, this behavior has been interpreted in terms of classical size effects, primarily surface scattering within the Fuchs--Sondheimer theory and grain-boundary scattering in the Mayadas--Shatzkes model. While these approaches successfully describe transport when the film thickness is comparable to the electronic mean free path, growing experimental evidence indicates that they become insufficient under extreme confinement. This review discusses the crossover from classical scattering to a quantum-confinement regime in which the electronic states available for transport are fundamentally restructured by finite size. We review the recently proposed reciprocal-space confinement theory, which predicts an exponential increase of resistivity with decreasing thickness at the nanoscale, and discuss how it can be combined with classical surface-scattering models to provide a unified description of ultra-thin metallic and semiconducting films. Finally, we summarize recent experimental evidence supporting this picture and discuss its implications for future nanoelectronic devices, nanoscale interconnects, and quantum transport under extreme spatial confinement.
arXiv:2601.21890v2 Announce Type: replace Abstract: Land-atmosphere exchange is mediated by turbulent fluxes that can be quantified using eddy-covariance (EC) measurements. EC has been widely used to measure ecosystem-scale vertical exchange between atmosphere and vegetation, and to test and refine atmospheric turbulence theories with the aim to improve the representation of turbulent fluxes in numerical models. Traditionally, research has focused on idealized, homogeneous and flat surfaces, but recent work increasingly targets turbulent exchange in complex, heterogeneous environments under non-ideal conditions, where challenges include advective fluxes, mesoscale circulations between contrasting surface types, and non-stationary nighttime turbulence. Here, we introduce the open-source R package Reddy, which combines multiple EC analysis methods into a single modular tool. Reddy enables users to tailor post-processing choices to site-specific conditions, supports station management and facilitates detailed scientific analyses. The package is accompanied by extensive documentation and a suite of Jupyter notebooks that provide hands-on introductions to EC data processing. We demonstrate Reddy using measurements from three Norwegian sites: (1) a morning transition following a strongly stably stratified night at an alpine tundra valley, (2) spectral and ogive analysis before and after an ice-cover transition at a boreal lake, and (3) fitting flux-variance relations at a permafrost-affected palsa peatland. Reddy extends existing EC software and helps moving towards a more holistic turbulence data analysis framework for heterogeneous, real-world environments.
arXiv:2607.02258v1 Announce Type: cross Abstract: Quantum networks require qubits that combine efficient optical access, coherent control, and long-lived quantum memory, but realizing all three in one scalable platform remains a central bottleneck. Diamond color centers are leading candidates, yet widely studied defects retain tradeoffs among these capabilities. Here, we show that transition-metal defects in diamond provide a distinct route beyond these platforms by combining spin-orbit protected ground-state coherence, all-optical control, and near-infrared emission. Using a single nickel-vacancy (NiV$^-$), we demonstrate an all-optically controlled diamond spin qubit with coherence exceeding one millisecond at 1.65 K, compatible with compact closed-cycle cryogenics. We implement Raman Rabi oscillations and Ramsey interferometry and use all-optical dynamical decoupling to extend coherence from $T_2^*$ = 371 ns to $T_2^{CPMG-4}$ = 1.27 ms, establishing NiV$^-$ as a deployable diamond spin-photon interface.
arXiv:2607.02320v1 Announce Type: cross Abstract: Quantum-enhanced metrology relies on entanglement to achieve sensitivities beyond the standard quantum limit. While remarkable progress has been made in generating highly entangled many-body states, extracting their metrological advantage remains a central challenge because the encoded information is often inaccessible to realistic measurements. A key development of the past decade has been the realization that many-body interactions can play a dual role: they can be used not only to generate entanglement, but also to decode it. This idea underlies interaction-based readout and time-reversal protocols, in which controlled non-linear dynamics transform weakly encoded signals into experimentally accessible observables. Cavity quantum electrodynamics (QED) provides a particularly powerful setting for these approaches because it combines collective enhancement, tunable interactions, and controllable reversibility within a single platform. In this review, we discuss the emergence of time-reversal protocols in cavity QED, from their conceptual roots in Loschmidt echoes to modern implementations of signal amplification through a time-reversed interaction (SATIN), scrambling-enhanced metrology, and more general interaction-based readout schemes. We examine the physical mechanisms that enable reversible many-body dynamics, review key experimental demonstrations, and discuss future directions involving complex entangled states, nonlinear decoding, and emerging quantum platforms. Together, these developments suggest that the ability to decode quantum information may become as important as the ability to generate it, establishing reversible many-body dynamics as a central resource for quantum-enhanced sensing.
arXiv:2607.02465v1 Announce Type: new Abstract: Probabilistic computation plays an important role in trustworthy edge intelligence to quantify uncertainty, enhance robustness, reconstruct data, and protect privacy, but its adoption is limited by the orders-of-magnitude data throughput gap between Gaussian random number generation (GRNG) and computation, as well as instruction overhead. This paper introduces probabilistic memory (p-MEM), a unified memory primitive that stores distribution parameters, such as mean and standard deviation, and samples directly at the native memory bandwidth, where deterministic data becomes the zero-variance special case. Using a layout-validated p-MEM simulator, we comprehensively explore device choices, memory specifications, and technology nodes, showing that p-MEM can achieve more than 1000 GSa/s/mm^2 GRNG throughput, including memory-array access. Integrated into CPU/GPU systems, p-MEM reduces instruction count by up to 2.19x/4.37x, sampling latency by 562x/3.45x, and energy by 295.5x/3.53x for Bayesian neural network workloads, providing a scalable hardware substrate for trustworthy probabilistic AI.
arXiv:2607.02413v1 Announce Type: cross Abstract: Here we describe the quantum gas analysis and inference (Q-GAIN) Python package, which enables rapid deployment of machine learning (ML) and physics-informed analysis techniques for cold-atom experiments. Out of the box, Q-GAIN implements classification, object detection, and physics-informed metrics for feature detection in images of atomic Bose-Einstein condensates (BECs). Q-GAIN encourages a natural, module-based workflow: starting with data loading and preprocessing, followed by ML-based feature identification, and ending with conventional analysis techniques. We demonstrate this modularity by configuring Q-GAIN for three ML tasks. First, we demonstrate the basic workflow of the Q-GAIN framework by implementing the standard task of classifying handwritten digits from the MNIST dataset. Then, we re-implement our earlier soliton detection (SolDet) package in the Q-GAIN framework, enabling the detection and analysis of solitonic excitations in time-of-flight data. Finally, we develop an object-detection tool that identifies quantized vortices in images of ring-shaped BECs.
arXiv:2607.02150v1 Announce Type: new Abstract: This paper studies additive regret in the multi-secretary problem, defined as the gap between the expected offline prophet reward and the reward of the best online policy. Prior work established \(O(\log T)\) regret for bounded-density distributions with connected support and \(O((\log T)^2)\) upper bounds for bounded-density distributions with support gaps. It was unknown whether the extra logarithmic factor is necessary even in the one-resource model. We prove that it is necessary. For a mixture of two separated uniform distributions at the critical capacity, the optimal regret grows at least on the order of \((\log T)^2\). Thus the existing \(O((\log T)^2)\) upper bounds for bounded-density gapped instances, including those implied by network revenue management models with continuous rewards, are tight in this simplest specialization. The same framework also yields a matching lower bound for gapped distributions whose gap-facing densities vanish near the support edges; this companion result is given in the appendix. The proofs use Bellman certificates: feasible solutions to a relaxation of the exact Bellman recursion. This framework converts lower bounds into explicit certificate constructions and identifies why support gaps permit larger regret.
arXiv:2607.02186v1 Announce Type: new Abstract: Software development is a complex task that demands cooperation among agents with diverse roles. Large language models (LLMs) have enabled autonomous multi-agent software development frameworks that leverage role-based collaboration to automate requirements analysis, coding, testing, and refinement. However, existing approaches typically assume that intermediate agent outputs are equally reliable, leaving them vulnerable to hallucination propagation, where incorrect decisions generated in early development phases are transferred to downstream agents and negatively impact final software quality. To address this challenge, we propose UA-ChatDev, an uncertainty-aware multi-agent software development framework that integrates uncertainty quantification into agent interactions. It introduces a lightweight uncertainty estimation mechanism based on token-level log probabilities to assess the confidence of agent responses and employs phase-aware threshold calibration to selectively trigger retrieval-based verification when uncertainty exceeds acceptable levels. Extensive experiments on the SRDD benchmark demonstrate that UA-ChatDev consistently outperforms existing single-agent and multi-agent software development frameworks across completeness, executability, consistency, and overall quality metrics. Further ablation studies and communication analyses verify that uncertainty-aware interactions enhance code execution reliability.
arXiv:2607.02428v1 Announce Type: cross Abstract: Accelerated magnetic resonance imaging reduces acquisition time, but reconstruction from undersampled k-space can blur diagnostically relevant structures or introduce failures that are not captured by global image metrics. We propose SA-RDM-DC, a Self-Auditing Residual generative Drifting Model with Data Consistency for accelerated knee MRI. The method adapts the newly proposed generative drifting paradigm to accelerated MRI by training a physics-conditioned drift field from the zero-filled reconstruction toward the fully sampled residual correction. It predicts image- and missing-k-space residual corrections, enforces data consistency with acquired k-space, uses frequency-aware and residual drifting supervision to recover fine detail, and produces dense error maps and slice-level risk scores in the same inference pass. We evaluate SA-RDM-DC on multi-coil fastMRI knee data at acceleration factors of 4, 8, and 12, with fastMRI+ pathology annotations for region-level and classifier-based task preservation, and on SKM-TEA for zero-shot and fine-tuned protocol-shift evaluation. Compared with zero-filled reconstruction, UNet-image-SENSE, DC-UNet, Score-Diffusion, ELF-Diff, SENSE-VarNet, and MoDL baselines, SA-RDM-DC achieves the highest SSIM across fastMRI acceleration factors while retaining subsecond per-slice inference and avoiding the long sampling time of iterative diffusion baselines. In pathology-aware analysis, SA-RDM-DC preserves lesion-region structural fidelity and reduces meniscus prediction instability. Its self-auditing scores strongly identify high-error reconstructions on fastMRI and partially transfer as a selective-review signal under SKM-TEA protocol shift. These results support reconstruction evaluation that jointly considers image fidelity, pathology preservation, runtime, and case-specific reliability.
arXiv:2511.13172v2 Announce Type: replace Abstract: Recent photoelectron spectroscopy of B$_{80}^-$ was interpreted in terms of a fullerene-like cage structure. During our systematic investigation of medium-sized boron clusters, we identified a $D_{3h}$-symmetric bilayer isomer whose simulated photoelectron spectrum reproduces the principal features of the experimental photoelectron spectrum within 0.04 eV. The bilayer is energetically competitive with previously proposed structures and remains dynamically stable up to 1400 K according to ab initio molecular dynamics and vibrational analyses. Its electronic structure exhibits a 0.72 eV HOMO-LUMO gap and strong interlayer aromaticity, reflected by a NICS(0) value of $-44.3$ ppm in the interlayer B-B bonding region. These findings reveal a stable bilayer motif in the B$_{80}$ energy landscape and support its viability as a possible alternative structural assignment for the experimentally observed B$_{80}^-$.
arXiv:2512.10221v2 Announce Type: replace Abstract: We report on a search for a gravitationally bound solar axion halo using data from the Global Network of Optical Magnetometers for Exotic physics searches (GNOME), a worldwide array of magnetically shielded atomic magnetometers with sensitivity to exotic spin couplings. Motivated by recent theoretical work suggesting that self-interacting ultralight axions can be captured by the Sun's gravitational field and thermalize into the ground state, we develop a signal model for the pseudo-magnetic fields generated by axion-proton gradient couplings in such a halo. The analysis focuses on the fifth GNOME Science Run (69 days, 12 stations), employing a cross-correlation pipeline with time-shifted daily modulation templates to search for the global, direction-dependent, monochromatic signal expected from a solar axion halo. No statistically significant candidate signals are observed. We set 95% confidence-level upper limits on the amplitude of the axion-induced pseudo-magnetic field over the frequency range $\approx 0.05-20$ Hz, translating to constraints on the linear and quadratic axion-proton couplings for halo densities predicted by gravitational capture models and for the maximum overdensities allowed by planetary ephemerides. In the quadratic coupling case, our limits surpass existing astrophysical bounds by over two orders of magnitude across much of the accessible parameter space.
arXiv:2607.01373v1 Announce Type: cross Abstract: We present new and improved calculations of Stark-broadened profiles for ionized helium, a key ingredient in the spectroscopic analysis of helium-atmosphere DO white dwarfs. Our approach builds upon the computer simulation framework previously developed for neutral helium, which fully accounts for the dynamical interactions of both ions and electrons with the emitting helium atom. We extend this theoretical formalism by relaxing the assumption of straight-line trajectories for the perturbing particles (electrons and ionized helium) and adopting the hyperbolic trajectories appropriate for their interaction with a charged emitter, thereby accounting for their dynamical influence on the line-broadening process. In this exploratory study, we focus on the He II 4686 line, the strongest absorption feature observed in the spectra of DO white dwarfs. We present the resulting Stark profiles and perform a detailed comparison with those available in the literature.
arXiv:2607.02122v1 Announce Type: new Abstract: Electronic neurons are a keystone for construction of the spiking neural networks which have numerous applications in neuroprosthetics, artificial memory, intensive calculations etc. A number of concepts of electronic neurons has been already proposedm with some of them implemented in hardware. However, new schemes are of significant interest since the existing ones do not fit all requirements: either they are too complex and expensive in realization, or they are not able to demonstrate all demanded regimes, or their do not have a appropriate mathematical description and therefore may be investigated only experimentally etc. In this study we propose a new design of bursting electronic neuron constructed as a circuit implementation of the equations of a phase-locked loop system. To succeed, we use a novel hybrid approach: we start from the phenomenological equations providing the demanded, then we adjust and modify these equations to simplify the implementation rather than implementing the biophysical equations into thee hardware directly or writing equations for the already constructed circuit. The resulting circuit is simple in implementation and well matches the underlying equations. It can be used for description of not only a single neuron, but small neural circuits too.
arXiv:2607.02131v1 Announce Type: new Abstract: Restoring archival film remains a fundamentally challenging problem due to the absence of paired training data and the lack of standardized evaluation benchmarks. Pristine versions of deteriorated footage are physically unrecoverable, requiring supervised methods to rely on synthetic data that often fail to capture the complex, temporally coherent nature of real film degradation. At the same time, existing real-world datasets are limited in scale, quality, and accessibility, hindering reliable evaluation and fair comparison across methods. We address both limitations with AbsoluteDegradation, a physics-inspired, modular pipeline for synthesizing realistic film degradations, and a new large-scale archival benchmark. The proposed pipeline models the analog-to-digital process as a structured composition of artifact families, incorporating signal-dependent grain, parametric scratches, and temporally coherent camera motion, enabling controlled generation of diverse degradation regimes. In parallel, we introduce a curated dataset of 81,576 high-resolution frames sourced from real archival footage, designed for consistent evaluation under real-world conditions. Together, these contributions provide a unified framework for training and benchmarking restoration models. Extensive experiments across multiple architectures show that models trained with AbsoluteDegradation generalize better to real-world footage, while the proposed benchmark reveals systematic failure modes of current methods. We hope this work establishes a foundation for reproducible and domain-authentic evaluation in archival film restoration.
arXiv:2607.01451v1 Announce Type: cross Abstract: Anomaly detection in geospatial data is a crucial tool in geographic information science (GIS), with applications ranging from national security to public-health surveillance to the study of societal disparities. This work focuses on spatial scan statistics and addresses a key mismatch: spatial counts are typically aggregated into predefined regions (census tracts, zip codes, counties), whereas the most efficient scan algorithms operate on spatial point data. The standard remedy -- collapsing each region to its centroid, as in widely used tools such as SaTScan -- is convenient but, as we show, discards the region's spatial extent and causes a significant loss in statistical power. To resolve this, we propose a simple yet scalable fix: replace each spatial region with 20-50 points sampled uniformly from its geometry and spread the region's values evenly across them. This approach improves statistical power while maintaining computational tractability. A convergence analysis explains why so few samples per region suffice. We recommend this sampling-based conversion as the default way to apply point-based spatial scan statistics to region-aggregated data for anomaly detection.
arXiv:2607.02200v1 Announce Type: new Abstract: Purpose: To evaluate the feasibility of an integrated, free-breathing workflow for automated 2D pulmonary relaxometry (T1, T2) at 0.55T. Methods: A 2D inversion recovery ultra-fast balanced steady-state free precession (IR-uf-bSSFP) sequence was adapted to achieve high-temporal sampling of the transient phase at 0.55T. The technique was validated in a phantom and tested in eight healthy volunteers as well as one patient. A fully automated pipeline was developed, featuring multi-contrast registration for motion correction and deep learning based lung segmentation to enable voxel-wise nonlinear fitting for T1 and T2 map generation. Results: Phantom results were in close agreement with reference scans. In-vivo, the proposed free-breathing framework effectively mitigated respiratory motion, yielding quantitative maps in close agreement with breath-hold references. Healthy lung parenchyma relaxation times were T1 = (930+-40)ms and T2 = (90+-8)ms. In a patient case, the method successfully distinguished a solid lung mass from healthy parenchyma, with the lesion showing elevated T1 (960ms vs 810ms in the surrounding parenchyma). Conclusions: Simultaneous free-breathing T1 and T2 mapping of the lung is feasible at 0.55T using a fully automated pipeline. By eliminating breath-holds and external gating, this approach improves patient compliance and potentially facilitates the use of quantitative lung MRI in routine clinical practice.
arXiv:2607.02241v1 Announce Type: new Abstract: Strassen's theory of bilinear complexity provides a mathematical characterization of the arithmetic complexity of primitives such as matrix multiplication via the rank of tensors. However, the connection to tensor rank is known to break down in higher degrees of multilinearity. In this work, we highlight an unexplored connection between a generalized notion of tensor rank, which can be defined in Naslund's framework of partition ranks (JCTA 2020), and multiplicative complexity. These partition ranks allow us to control the multiplicative complexity, and thus arithmetic complexity, in any constant degree of multilinearity from below, while recovering Strassen's seminal characterization in the bilinear case. This enables novel potential applications of the rank-based approaches to problems in fine-grained algorithms and complexity, such as the hyperclique conjecture of Lincoln-Williams-Vassilevska Williams (SODA 2018). Moreover, we exhibit connections to established notions of rank, such as tensor slice rank (in the sense of Tao and Sawin), as well as its symmetric variant. For computing the latter symmetric variant, we point out a simple NP-hardness proof, contrasting the rather involved NP-hardness proof for ordinary, non-symmetric tensor slice rank by Bl\"aser et al. (SODA 2021).
arXiv:2607.01443v1 Announce Type: cross Abstract: Permanent electric dipole moments (EDMs) of nucleons, nuclei, atoms, and molecules are among the most sensitive probes of CP violation beyond the Standard Model and are intimately connected to the strong CP problem and the origin of the matter-antimatter asymmetry of the universe. This review presents the theory of EDMs from the bottom up, tracing the chain of connections that links CP-violating interactions at level of elementary particles to observable EDMs across a wide range of systems. Starting from a general CP-odd effective Lagrangian at the quark-gluon level comprising the QCD theta term, quark EDMs and chromo-EDMs, the Weinberg operator, and CP-odd four-fermion interactions, I show how chiral perturbation theory organizes the nonperturbative QCD dynamics into a small set of hadronic low-energy constants, whose relative sizes are determined by the chiral representation of the underlying source. These hadronic interactions feed into calculations of nuclear EDMs and Schiff moments, which in turn enter atomic and molecular structure calculations that connect to experimentally accessible observables in diamagnetic and paramagnetic systems. Special attention is given to the recently identified sensitivity of paramagnetic systems to hadronic CP violation, which opens a new and relatively unexplored window on the quark-gluon sector. The complementarity of the full EDM portfolio including the neutron, light nuclei, atoms, and molecules, and the role of theory in disentangling the underlying source of CP violation is discussed throughout.
arXiv:2607.02252v1 Announce Type: new Abstract: The deployment of Industrial Anomaly Detection (IAD) in real-world manufacturing frequently encounters a challenging cold-start bottleneck, in which limited normal samples fail to represent the full normal distribution and only a few anomalies are available. Under such a regime, existing methods struggle to form compact normal boundaries and fail to effectively exploit supervised signals from rare defects. To address this challenge, we propose Anomaly-Rectified Cold-start AD (ArcAD), a plug-and-play calibration framework for reconstruction-based IAD baselines. ArcAD follows a push-pull learning paradigm to construct a compact and discriminative normal boundary under data scarcity. On the one hand, ArcAD projects limited normal samples onto a hypersphere and pulls them into multiple compact clusters to maximize coverage of the normal manifold. On the other hand, it synthesizes pseudo-anomalies on the hypersphere and leverages real anomalies to push the boundary inward and sharpen anomaly discrimination. Extensive experiments on MVTec-AD, VisA, Real-IAD, and MANTA demonstrate that ArcAD significantly outperforms state-of-the-art supervised and unsupervised methods in both single-class and multi-class settings under cold-start conditions. Code is available at: https://github.com/LGC-AD/ArcAD.
arXiv:2607.02269v1 Announce Type: new Abstract: Vision-Language Models (VLMs) have demonstrated immense promise in Spatio-Temporal Video Grounding (STVG). However, current evaluation protocols are largely confined to zero-shot assessments on general, daily-life benchmarks. This creates a critical disconnect from real-world applications in specialized fields, where models inevitably encounter rare visual concepts and complex spatio-temporal dynamics. Since exhaustive pre-training across infinite data distributions is infeasible, the ability to adapt to novel domains is essential. To bridge this gap, we introduce AnyGroundBench, a domain-adaptation benchmark designed to shift the STVG evaluation paradigm from static zero-shot testing to rigorous domain adaptation. Targeting five specialized domains (animal, industry, sports, surgery, and public security), AnyGroundBench pairs newly captured videos such as expert-annotated mouse behaviors with established datasets, unifying them through dense, high-fidelity spatio-temporal annotations. Crucially, the benchmark provides dedicated training subsets to systematically measure domain adaptability. We extensively evaluate 15 state-of-the-art VLMs, assessing their zero-shot generalization and In-Context Learning (ICL) capabilities under practical computational constraints. Ultimately, our findings reveal that current models fail in both zero-shot and ICL-based adaptation when confronted with specialized domains, exposing critical flaws in spatio-temporal reasoning that future research must address.
arXiv:2607.01512v1 Announce Type: cross Abstract: We investigate the low-Reynolds-number propulsion of a slender elastic filament with a dipolar magnetic head actuated by an oscillating field in a viscous fluid by studying its strokes and net forward motion. To capture these dynamics, we employ an elasto-hydrodynamic (EH) framework that couples Euler-Bernoulli beam mechanics with resistive force theory. Unlike prescribed-kinematics models, filament shapes here emerge self-consistently from the actuation and the force and torque boundary conditions (BCs). We demonstrate that viscous boundary contributions are crucial for quantitative agreement and show that the swimming dynamics are governed by the EH length and a magneto-viscous-elastic stroke amplitude introduced here. The swimming speed is non-monotonic with increasing ratio of the swimmer length to the EH length, and is shown to reach a maximum when the swimmer length is on the order of the EH length. We further discuss the analytical limit in which the tail BCs can be described as free, and the limitations that arise when viscous contributions to the BCs are ignored.
arXiv:2602.02068v5 Announce Type: replace Abstract: The present work addresses the Cauchy problem for an abstract nonlinear system of coupled hyperbolic equations associated with the Timoshenko model in a real Hilbert space. Our purpose is to develop and delve into a temporal discretization scheme for approximating a solution to this problem. To this end, we propose a symmetric three-layer semi-discrete time-stepping scheme in which the nonlinear term is evaluated at the temporal midpoint. As a result, at each time step, this approach reduces the original nonlinear problem to a linear one and enables parallel computation of its solution. Convergence is proved, and second-order accuracy with respect to the time-step size is established on a local temporal interval. The proposed scheme is applied to a spatially one-dimensional nonlinear dynamic Timoshenko beam system, and the results obtained for the abstract nonlinear system are extended to this setting. A Legendre-Galerkin spectral approximation is employed for the spatial discretization. By taking differences of Legendre polynomials within the Galerkin framework, the resulting linear system is sparse and can be efficiently decoupled. The convergence of the method is also investigated. Finally, several numerical experiments on carefully chosen benchmark problems are conducted to validate the proposed approach and to confirm the theoretical findings.
arXiv:2602.02762v2 Announce Type: replace Abstract: Semi-supervised imitation learning (SSIL) consists in learning a policy from a small dataset of action-labeled trajectories and a much larger dataset of action-free trajectories. Some SSIL methods learn an inverse dynamics model (IDM) to predict the action from the current state and the next state. An IDM can act as a policy when paired with a video model (VM-IDM) or as a label generator to perform behavior cloning on action-free data (IDM labeling). In this work, we first show that VM-IDM and IDM labeling learn the same policy in a limit case, which we call the IDM-based policy. We then argue that the previously observed advantage of IDM-based policies over behavior cloning is due to the superior sample efficiency of IDM learning, which we attribute to two causes: (i) the ground-truth IDM tends to be contained in a lower complexity hypothesis class relative to the expert policy, and (ii) the ground-truth IDM is often less stochastic than the expert policy. We argue these claims based on insights from statistical learning theory and novel experiments, including a study of IDM-based policies using recent architectures for unified video-action prediction (UVA). Motivated by these insights, we finally propose an improved version of the existing LAPO algorithm for latent action policy learning. We experiment on the Procgen, Push-T and LIBERO benchmarks.