arXiv:2607.14737v1 Announce Type: new
Abstract: Vision-language pre-trained models (VLPs) are widely used in real-world applications. However, they remain vulnerable to adversarial attacks. Although adversarial detection methods have demonstrated success in single-modality settings (either vision or language), their effectiveness and reliability in multimodal models such as VLPs remain largely unexplored. In this work, we study the geometry of VLP embedding spaces and observe structured anisotropy that differs from unimodal vision models. Our theoretical analysis shows that under this anisotropic structure, adversarial attacks increase the expected geometric separation between clean and adversarial examples (AEs). Specifically, we demonstrate that AEs consistently exhibit greater expected distances to randomly sampled points than their clean counterparts, indicating that AEs tend to push representations out of manifold regions. Building on these insights, we propose GeoDetect, which leverages these off-manifold deviations via geometric scores to identify AEs. Through comprehensive evaluations, we show that our approach reliably detects AEs across diverse VLP architectures and threat settings, covering unimodal and multimodal attacks as well as adaptive attacks, thereby providing a robust and practical approach to improving the safety and reliability of these models.
Science Journals
arXiv:2607.14760v1 Announce Type: new
Abstract: A surveillance camera is an image sensor whose silent physical degradation invalidates every downstream consumer of its data. In-situ integrity alarms for such vision sensors require low false-alarm rates, bounded computation, and diagnosable behavior under nuisance illumination changes. This paper studies a deliberately narrow streaming integrity monitor for two low-cost sensor-fault signatures: texture-collapsing lens occlusion and abrupt photometric scene transition. The detector compares sampled luminance and local-gradient statistics with a clean-only sliding reference, applies coarse-grid structured-light rejection and mode/rapid-brightness suppression, and emits at most one notification per tamper episode. We formalize the decision predicates and derive a consistency rule for when rapid-brightness suppression makes the scene-transition path unreachable. On 320 in-scope controlled sequences, the default state machine attains 0.800 F1 and 0.822 balanced accuracy (significantly better paired correctness than the strongest baseline, though the F1 margin is not statistically resolved); on a magnitude-swept public audit it attains the highest partial AUC under a 5\% false-alarm budget, and a separate extended-stress FPR-constrained sweep reaches 0.925 recall at 0.025 false-positive rate. Public Xiph, Bremen IoT, and UHCTD diagnostics show the fixed predicates preserve low false alarms while recall concentrates inside the declared envelope (UHCTD in-scope covered recall 0.667 versus 0.016 out of scope), and a 9.09-camera-hour verified-negative public audit records zero false alarms. The method is best interpreted as an auditable sensor-health subsystem rather than a universal camera-tamper classifier.
arXiv:2607.14331v1 Announce Type: new
Abstract: Long interaction histories are among the most informative inputs for click-through rate (CTR) prediction, yet in online advertising they collide with a hard serving constraint: ads must be scored within a few hundred milliseconds to enter the auction, which rules out running a large sequence encoder at request time. We describe how a production advertising system resolves this conflict by decoupling history encoding from real-time inference. A high-capacity offline transformer asynchronously encodes the user's full cross-surface interaction history into a compact representation cached in a feature store, while a lightweight runtime model combines this cached representation with the user's most recent events and the request context at serving time. The offline encoder is pre-trained autoregressively on large-scale interaction logs with a dual objective - feedback prediction and next-item prediction - and the two-stage architecture is then fine-tuned for CTR prediction on the target advertising surface. Offline, the split design recovers 72-80% of the quality of a full-history runtime transformer that would be too expensive to deploy, and the cached representation is robust enough to staleness to permit inexpensive refresh policies. In production A/B experiments, the system improves the primary ranking metric by +2.77% in search advertising and +2.1% on the Yandex Advertising Network, with revenue gains of +2.26% and +0.43% respectively - without increasing serving latency.
arXiv:2607.14831v1 Announce Type: new
Abstract: Gravitational instabilities are among the most widespread natural hazards and are expected to become increasingly significant under ongoing environmental change. Despite substantial advances in process understanding, monitoring, and modeling, predicting the timing of failure remains a fundamental challenge because instability emerges from complex interactions operating across multiple spatial and temporal scales. Existing approaches often focus on specific processes, forcing mechanisms, or observational signatures, resulting in a fragmented view of how systems evolve toward failure. This article propose a unified conceptual framework in which gravitational instabilities are interpreted as the progressive evolution of a latent system state controlled by damage accumulation, stress redistribution and external forcing to catastrophic failure. Within this perspective, failure emerges from the continuous interplay between internal system dynamics and external forcing, while predictability depends on our ability to infer the evolving state of the system from incomplete and indirect observations. The framework provides a common structure linking physical processes, observable manifestations, monitoring strategies, modeling approaches, and forecasting methods across a wide range of gravitational hazards. By integrating concepts from geomechanics, fracture mechanics, statistical physics, and data-driven sciences, the proposed framework shifts the focus from the search for universal precursors toward the reconstruction of evolving system states and their proximity to instability. It offers a unifying perspective for understanding failure processes and developing more robust approaches to hazard assessment and early warning.
arXiv:2607.14392v1 Announce Type: new
Abstract: We present an uncertainty quantification (UQ) framework for application level benchmarking and characterization of noisy quantum backends. The framework compares two workload classes under one statistical pipeline: noisy intermediate scale quantum (NISQ) variational quantum algorithms (VQAs) and Quantum Singular Value Transformation (QSVT) based Green's function reconstruction. For the VQA branch, we evaluate ten benchmark families spanning chemistry, optimization, simulation, compiling, linear solving, partial differential equations, metrology, error correction, tomography, and channel fidelity estimation. For the QSVT branch, we reconstruct orbital resolved Green's functions and spectral peaks from a block encoded real time propagator. The workflow combines Bayesian optimization, posterior distribution refinement, sensitivity analysis, robust parameter density estimation, backend ranking, noise correlation, and resource estimation analysis. Instead of reporting only one best parameter vector, the framework identifies robust parameter regions, residual gaps to ideal behavior, backend specific failure modes, and calibration sensitive uncertainty. The result is a common benchmark for variational and non-variational workloads that measures how reliably each backend reaches useful task level behavior.
arXiv:2410.13508v2 Announce Type: replace
Abstract: Building on our prior work on axiomatization of exact real computation by formalizing nondeterministic first-order partial computations over real and complex numbers in a constructive dependent type theory, we present a framework for certified computation on hyperspaces of subsets by formalizing various higher-order data types and operations. We first define open, closed, compact and overt subsets for generic spaces in an abstract topological way that allows short and elegant proofs with computational content coinciding with standard definitions in computable analysis and constructive mathematics. From these proofs we can extract programs for testing inclusion, overlapping of sets, et cetera. To enhance the efficiency of the extracted programs, we then focus on Polish spaces, where we give more efficient encodings based on metric properties of the space. As various computational properties depend on the continuity of the encoding functions, we introduce a nondeterministic version of a continuity principle which is natural in our formalization and valid under the standard type-2 realizability interpretation. Using this principle we further derive the computational equivalence between the generic and the metric encodings. Our theory is fully implemented in the Coq proof assistant. From proofs in this Coq formalization, we can extract certified programs for error-free operations on subsets. As an application, we provide a function that constructs fractals in Euclidean space, such as the Sierpinski triangle, from iterated function systems using the limit operation. The resulting programs can be used to draw such fractals up to any desired resolution.
arXiv:2607.14502v1 Announce Type: new
Abstract: In cavity optomechanics, the interaction between light and motion is usually introduced via the shift of cavity resonances in response to mechanical displacement. Here we present an analysis of Hamiltonian dynamics of an optomechanical system with a different form of optomechanical coupling, in which mechanical motion dynamically couples otherwise independent optical modes. In the language of Schwinger pseudospin operators, the dispersive coupling can be interpreted as "longitudinal" while the mode-coupling mechanism corresponds to a transverse interaction. The latter is well known in cavity and circuit QED but was given only scarce attention in cavity optomechanics. Unlike the traditional dispersive/dissipative coupling, the mode-coupling optomechanical interaction generates rich Hamiltonian dynamics even in the absence of external drive or dissipation. For instance, under certain initial conditions this dynamics is characterized by a Hamiltonian Hopf bifurcation controlled by the total photon power injected into the system. Below the bifurcation threshold and for large enough non-linearity, mechanical modulation of optical amplitudes generates a broad spectrum of multiple sidebands covering a frequency interval larger than ten mechanical frequencies. Above the threshold, the frequency of optical oscillations becomes dependent on the mechanical amplitude, while mechanical degrees of freedom return to oscillating at their bare frequency. The scope of this work is limited to the study of purely Hamiltonian dynamics to demonstrate that the mechanically mediated mode-coupling optomechanical interaction provides an alternative method of coherent control of energy exchange between light and mechanical motion.
Spoofer or Spoofers? Estimating a Lower Bound on the Number of DRDoS Sources Using Anycast Honeypots
arXiv:2607.14832v1 Announce Type: new
Abstract: DDoS attacks remain a significant threat, with distributed reflection denial-of-service (DRDoS) attacks being particularly difficult to trace back to their sources. To better understand attacker behavior and deployment patterns, we present a novel approach for estimating a lower bound on the number of networks involved in generating spoofed traffic. Our approach leverages a global deployment of anycast amplification honeypots that attract requests from topologically nearby sources. Using this infrastructure, we develop two estimators based on the set of honeypots receiving spoofed traffic and on variations in observed TTL values, while accounting for natural path instability. Analyzing 287 days of amplification attacks, we find that at least 21.0% originate from multiple network locations, indicating that attackers frequently distribute spoofing activity across networks. Our findings suggest that combating spoofing requires coordinated and distributed defenses, and inform the design of future attribution techniques.
arXiv:2411.03747v4 Announce Type: replace
Abstract: Cooperative Localization is a promising approach to achieving safe quadrotor formation flight through precise positioning via low-cost inter-drone sensors. This paper develops an observability-aware control principle tailored to quadrotor formation flight with range-only inter-drone measurements. The control principle is based on a novel approximation of the local observability Gramian (LOG), which we name the Short-Term Local Observability Gramian (STLOG). The validity of STLOG is established by proving its link to directional estimation precision in nonlinear systems. We propose the Observability Predictive Controller (OPC), a receding-horizon controller that generates optimal inputs to enhance information gain in weakly observable state directions by maximizing the minimum eigenvalue of the STLOG. This reduces the risk of estimator divergence due to the unbounded growth of uncertainty in weakly observed state components. Monte Carlo simulations and flight experiments are conducted with quadrotors in a GNSS-denied ferrying mission, showing that the OPC improves positioning confidence and estimator robustness.
arXiv:2607.14846v1 Announce Type: new
Abstract: Current voice AI benchmarks typically evaluate isolated capabilities such as speech intelligibility, word error rate, or text-based dialogue quality, but they rarely test whether systems harness the acoustic information that distinguishes spoken language from its textual representation. To this end, we introduce the Real World Voice EQ Bench, a multidimensional benchmark for evaluating voice AI across text-to-speech (TTS), speech-to-speech (STS), speech understanding (SU), and automatic speech recognition (ASR). Our evaluations indicate that performance is highly dimension-specific. For TTS, naturalness, expressiveness, identity stability, and reliability are largely independent evaluation dimensions. For STS, access to audio does not guarantee use of vocal affect, and some agents remain largely transcript-driven. For SU, models perform unevenly across paralinguistic tasks. For ASR, real world accent, emotion, noise, and conversational conditions expose failures that are not captured by established clean-speech benchmarks. Together, these results show that voice AI should be evaluated as a profile of acoustic, expressive, interactional, and robustness capabilities rather than by a single aggregate score.
arXiv:2607.14557v1 Announce Type: new
Abstract: Diffusion Multimodal Large Language Models (DMLLMs) are highly effective for multimodal reasoning, yet their inference efficiency is significantly hindered by fixed-length generation constraints. Since the actual output length is unknown, output sequences are padded to a predefined maximum length, resulting in substantial redundant computation over unnecessary [EOS] tokens. In this work, we discover that DMLLMs implicitly reveal their valid semantic boundary at the very first denoising step through a distinct shift in MLP activation sparsity. Leveraging this observation, we propose Seer, a training-free framework that detects this boundary using a Signal-to-Noise Ratio (SNR)-based criterion and performs one-shot truncation of the redundant suffix for all subsequent computations. To preserve these theoretical gains during batched serving, Seer incorporates a hybrid execution strategy that maximizes throughput while seamlessly accommodating dynamic sequence lengths. Experimental results demonstrate that Seer effectively eliminates padding waste, accelerating throughput by up to $\sim$31$\times$. Across 9 benchmarks, Seer robustly maintains overall performance and even improves accuracy on complex visual tasks by mitigating noise leakage (e.g., DocVQA score increases from 63.52 to 63.66), offering a highly efficient, plug-and-play solution for DMLLM acceleration.
arXiv:2607.14999v1 Announce Type: new
Abstract: We present a formal verification of an abstract transition-system presentation of the Davis-Putnam-Logemann-Loveland (DPLL) procedure in the Rocq proof assistant. Following Nieuwenhuis et al., SAT solving is modeled as a set of rule-based transitions between states rather than as a concrete algorithm. We formalize the syntax and semantics of propositional formulas, define the classical and base DPLL transition systems, and prove their key metatheoretic properties. In particular, we establish correctness and completeness with respect to satisfiability, and we prove termination by showing that the transition relation is well-founded. The formalization extends the original abstract system by also including the pure literal rule. Building on the verified transition system, we introduce an abstract notion of strategy and derive a terminating solver from any strategy satisfying suitable conditions. We then implement a concrete strategy in Rocq and show that it satisfies the strategy specification.
arXiv:2607.14609v1 Announce Type: new
Abstract: Tactile-enhanced vision-language-action (VLA) policies have been introduced for contact-rich manipulation, where critical interaction states are often hidden from vision. Future tactile prediction is a promising way to use touch because it turns tactile outcomes into supervision for action-induced contact dynamics. Yet VLA policies contain representations with different roles, from perceptual encoding to motor prediction, making it unclear where this supervision should be applied. We study this as a representation-alignment problem. Through a linear probe analysis, we find that future tactile states are most predictable from intermediate action-expert features, rather than from vision-language features or final action states. Motivated by this observation, we introduce a lightweight Latent Tactile Predictor (LTP), which predicts compact future tactile embeddings from the identified intermediate representation. By avoiding direct prediction of noisy raw tactile signals, LTP provides an action-outcome grounding signal that aligns intermediate action representations with future contact consequences. Experiments on real-world contact-rich manipulation tasks show that representation-aligned tactile grounding outperforms less aligned or multi-interface tactile prediction, highlighting the importance of where tactile supervision is applied.
arXiv:2607.14853v1 Announce Type: new
Abstract: Collaborative control in complex environments is severely challenged by stochastic wireless delay and reliability variations, which can degrade navigation, tracking, and collision avoidance. These network-induced uncertainties complicate the maintenance of energy efficiency during collaborative tasks, and can potentially lead to over-provisioning of resources. In this paper, for a navigation setup with dynamic collision avoidance, we address this challenge by expanding the quality of control (QoC) framework from prior works to practical robotic models. Our approach (i) models end-to-end network effects on closed-loop performance, (ii) systematically explores the impact of various control parameters dictating robotic motion on network latency-reliability (iii) validates these models through experiments on a private 5G testbed across varying delay, reliability and control configurations. Our analysis indicates the optimal control-communication co-design operating regimes for practical robots and also compares the QoC performance of standard ROS~2 quality of service (QoS) policies under real-world conditions and showing how RELIABLE QoS offers 51.5% better QoC than BEST-EFFORT under certain experimental settings.
arXiv:2607.14890v1 Announce Type: new
Abstract: Autonomous coding agents increasingly execute multi-step software work, but lifecycle states such as reviewed, tested, DONE, and ready-to-merge remain claims unless supported by current evidence. We present Proof-or-Stop Lifecycle Control, a method that permits lifecycle transitions only when fresh, tracked-source-state-bound, mechanically verifiable evidence satisfies the relevant gate. The method treats agent outputs as claims rather than lifecycle state, and uses proof operationally to mean gate-admissible evidence under a stated trust model, not semantic program correctness.
We evaluate an open-source implementation through mechanism tests, a powered control-policy ablation, and operated self-application evidence. The unattended-loop engine passed 10 of 10 scenarios with zero false-DONE, and local-key receipt bundles rejected 18 tamper classes with zero false accepts. In a 9,240-cell ablation, the pre-registered A4 versus A2-prime comparison reduced visible-pass/hidden-fail amplification from 31 of 1,800 injected cells under a compute-budgeted naive loop to 2 of 1,800 under the gated loop, a 1.6 percentage-point improvement in not-amplified rate with a 95 percent confidence interval of [0.8, 2.5]. A near-compute A3 versus A4 comparison, 14 of 1,800 versus 2 of 1,800, indicates that the gain is associated with enforcing review as a lifecycle gate rather than merely adding a reviewer. The self-application corpus contains 565 stories and 1,007 review findings, with 94.8 percent resolved, plus a 68-row high/critical cross-vendor exhibit. These results support Proof-or-Stop as a model-agnostic, host-neutral control layer for deciding which autonomous-agent claims a lifecycle may act on. The evaluation is limited to one model family, 24 ablation tasks, and a self-hosted corpus.
arXiv:2607.14725v1 Announce Type: new
Abstract: In robotic motion planning, equivariance to rigid body transformations is crucial for robust spatial generalization. However, current learning-based planners face a critical dilemma: they either lack inherent equivariance, treating transformed tasks as novel scenarios, or enforce it via computationally expensive specialized architectures that bottleneck real-time inference. To break this trade-off, we propose BridgeFlow, a fast and strictly SE(2)-equivariant generative motion planning framework. Rather than relying on heavy equivariant networks, BridgeFlow achieves exact spatial equivariance via a lightweight task-centric canonicalization module, enabling generalization using standard architectures. To further accelerate inference, we pair a Brownian bridge informative prior with context-aware mini-batch optimal transport. This constructs a straightened vector field that minimizes transport costs and stabilizes training. Furthermore, environmental awareness is explicitly embedded via Classifier-Free Guidance. Evaluations in dense 2D environments and on a 7-DoF Franka manipulator demonstrate that BridgeFlow achieves up to a 15x inference speedup and a 2x higher valid trajectory rate over state-of-the-art diffusion baselines, alongside robust generalization to entirely unseen environments and arbitrary spatial transformations.
arXiv:2607.14912v1 Announce Type: new
Abstract: We report non-Hermitian mode couplings in a photonic time crystal induced by the light within its momentum bandgap. When the relative phase between the light and the photonic time crystal compensates for the detuning, we observe a periodic suppression of exponentially growing Floquet modes. In contrast, the optical response in this regime cannot be reproduced by the conventional Floquet expansion of the Green's function, revealing that the light induces effective mode couplings beyond the quasinormal mode approximation. We further investigate the parity-time phase transition through the exceptional point and quantitatively explain the suppression dynamics based on the phase, detuning, and modulation amplitude. The nontrivial interaction with light and the controllable non-Hermiticity indicate the great potential of photonic time crystals in temporally modulated nanophotonics.
arXiv:2607.14842v1 Announce Type: new
Abstract: Dexterous in-hand manipulation requires continuous 6D pose tracking, yet the manipulating fingers inevitably occlude the object from the camera. We study how to structure the sparse haptic signals already available on multi-fingered hands, including proprioception, proximal force/torque, and binary contact, to complement a pretrained visual pose tracker under occlusion. We propose a kinematic-aware finger-level encoder and systematically compare it against four alternative designs through three levels of evaluation: per-frame refinement, sequential open-loop tracking, and closed-loop manipulation. Our experiments reveal that (i) per-frame evaluation cannot distinguish encoder quality, while sequential tracking amplifies architectural differences by up to 15 times; (ii) the structured encoder learns task-specific cross-modal gating, using vision exclusively for translation and dedicating one attention head to haptics for rotation, without explicit supervision; and (iii) compact finger-level tokenization with 4 tokens outperforms both flat fusion and joint-level representations, which suppress vision through norm dominance. We validate that improved tracking yields higher success in a downstream reorientation task and provide qualitative real-world demonstrations. Our project page is available at https://cold-young.github.io/kine-fuse/.
arXiv:2607.14135v1 Announce Type: new
Abstract: The 2D Helmholtz equation, radiation condition and Dirichlet boundary condition, are the translation, in mathematical terms, of (at least) three physical 2D problems for the prediction of the total scalar wavefield on one side of an impenetrable 1D periodically uneven boundary when: a) a plane TE electromagnetic wave propagating in the vacuum strikes the boundary the other side of which is occupied by a perfectly-conducting medium, b) a plane SH elastic elastic wave strikes a rigid boundary, c) a plane acoustic wave strikes a pressure-release boundary. The first attempt to solve such problems in a non-heuristic manner was made by Lord Rayleigh (in his book, 'The Theory of Sound' which appeared in 1896). My task will be to revisit Rayleigh's theory of diffraction by a sinusoidal-shaped, impenetrable boundary, and more specifically, his perturbation method for obtaining a mathematically-explicit solution to the diffraction problem in the high-frequency regime. In so doing, I shall correct and generalize Rayleigh's method to obtain solutions for arbitrary angles of incidence as well as for 1D periodic impenetrable boundaries of quite-general shape.
arXiv:2607.14882v1 Announce Type: new
Abstract: With a large controlled vocabulary as the label set, the task of automated subject indexing in a library can be understood as a multi-label classification task. If the set of subject terms is large, the problem fits the Extreme Multi-Label Classification (XMLC) objective. In this study, we apply a selection of specialised supervised XMLC methods to the test case of subject indexing contemporary German scientific literature, collected at the German National Library (DNB). We contrast these results by including a classical lexical matching baseline and three of our own recently developed LLM-based methods into the benchmark. Algorithms are evaluated and compared in several metrics. This includes binary relevance comparisons with previously indexed material, as well as graded relevance ratings by professional subject librarians. A challenge for all methods is to reliably make suggestions from the long tail of the subject vocabulary. We find that supervised XMLC algorithms relying on transformer-based dense features give best results in terms of overall binary relevance metrics. However, focusing on graded relevance and performance in the long tail of our subject vocabulary, the LLM-based generative methods give better results, making them a promising alternative for future productive use.
arXiv:2607.14888v1 Announce Type: new
Abstract: Finetuning language models on small, curated datasets is standard practice for adapting them to specific policies or domains. We show that finetuning on narrow, factually-defensible, moderation-passing data can cause broad ideological shifts across unrelated domains, while preserving general capabilities. Training GPT-4.1 on right- or left-leaning economics Q&A yields matched ideological shifts on topics such as criminal justice, the environment, and cultural taste. The same effect appears with plausibly-deployed datasets such as workplace HR policy and practical finance queries, as well as on a science-pseudoscience axis where food-safety finetuning increases sycophantic agreement with users expressing false health beliefs. We call this phenomenon ideological generalisation and propose a methodology to measure two properties: breadth, how far the shift reaches across topics absent from training, and amplification, how much finetuning intensifies the shift relative to few-shot prompting on the same examples. We show that few-shot prompting indicates the direction of generalisation but finetuning pushes the model to further extremes, including to far out-of-distribution outputs such as endorsements of race-IQ connections and political violence. The effect replicates on Gemma-3, holds under judge-free evaluations and external benchmarks, survives mixing with generic data, and leaves GSM8K accuracy within $\pm 1$pp of the baseline.
StructureClaw: Traceable LLM Agents and an Executable Benchmark for Structural Engineering Workflows
arXiv:2607.14896v1 Announce Type: new
Abstract: Addressing a structural-engineering request requires more than a single answer; it requires a chain of interdependent artifacts: interpreted requirements, a computable model, validation records, solver outputs, code-check records, and a final report. Evaluations centered on question answering or script generation rarely verify this complete evidence chain and may therefore reward fluent outputs even when the underlying engineering workflow is incomplete, internally inconsistent, or non-executable. To address this limitation, we present StructureClaw, an artifact-centered workbench in which LLM agents operate through governed engineering skills, typed tools, shared artifact state, and local analysis backends. We also introduce StructureClaw-Bench, an executable benchmark of 150 controlled scenarios spanning standard workflow execution, interactive robustness, and multimodal structural-model reconstruction. A scenario succeeds only when all required artifact- and execution-level assertions pass in a single run. Across ten agent-model configurations, each evaluated on the same 50 standard cases, the average Success Rate rises from 56.8% with the generic-skill baseline to 88.6% with the full automatic workflow. The interactive and multimodal evaluations identify two prominent remaining challenges: safe handling of invalid numerical inputs and fixture-consistent reconstruction of structural models. These findings show that artifact-centered evaluation can expose workflow-level failures that are difficult to identify from final responses alone, providing a more rigorous basis for evaluating and improving structural-engineering agents. The code and benchmark are available at https://github.com/structureclaw/structureclaw.
arXiv:2607.14252v1 Announce Type: new
Abstract: Long-horizon robot planning requires more than predicting what actions will do next; it also requires memory of the embodied experience that makes future goals interpretable. People do not plan from the present scene alone: they draw on remembered places, object-state changes, prior procedures, and regularities revealed through repeated action. We formulate Embodied Action Memory (EAM) as the capability to form, maintain, and use such experience as a persistent memory state for later decisions. MEMORA realizes EAM with a formation-consolidation-retrieval lifecycle and four typed stores: Environment Memory, Entity Memory, Activity Memory, and Inferred Knowledge. Online editing maintains object identities and state histories as new observations arrive; offline consolidation abstracts repeated experience into reusable procedures and participant-specific regularities. MEMORA-Bench evaluates this lifecycle on 45 hours of EPIC-KITCHENS-100 extension video across 18 participants through memory-grounded planning, including previously unseen goals, and a complementary memory-assessment task. Across four open-weight language models, full MEMORA--combining editing, typed stores, and consolidation--achieves the strongest aggregate results among the evaluated memory conditions. It improves memory-assessment accuracy by up to 20.5 points over the strongest controlled baseline and improves out-of-distribution Robot-Grounded Plan score by up to 16.6% relative. A qualitative two-task robot deployment study further illustrates how memory-grounded language plans can interface with downstream control, while the overall results show that editable, consolidated memory can supply remembered context for robot planning. Project page: https://yuzihaowashu.github.io/MEMORA/
arXiv:2607.14305v1 Announce Type: new
Abstract: In this paper we propose DCVC-Mamba (DCVC-MB), a neural video codec framework for B-frame coding. Our approach incorporates an IBP frame strategy for low-delay B-frame coding, a spatio-temporal fusion model based on state-space models for bidirectional temporal prediction, and an entropy-aware skipping mechanism that selectively omits coding certain latents to reduce entropy coding times. In addition to our model contributions we also implement two inference-time strategies that enhance compression performance. Experimental evaluation shows that DCVC-MB compares favorably to existing NVCs and traditional codecs. The method demonstrates BD-rate reductions of up to $8.98\%$ on average compared to prior neural video codecs, and improvements of up to $30.45\%$ and $1.81\%$ over the VTM-19.0-LDP and VTM-19.0-RA(Inter-GoP=16) benchmarks, respectively, contributing to advances in neural video compression.
arXiv:2607.14820v1 Announce Type: new
Abstract: We consider adaptive finite element methods for symmetric second-order linear elliptic PDEs, where the adaptive algorithm steers the local mesh refinement as well as an iterative algebraic solver. Under abstract assumptions on the underlying a-posteriori error estimator and the solver, we prove that the usual adaptive algorithm leads to unconditional full R-linear convergence, independently of the user-chosen adaptivity parameters. For sufficiently small parameters, this guarantees optimal complexity in the sense that the decay rate of an appropriate quasi-error is optimal with respect to the overall computation cost (and hence time) measured in terms of the usual nonlinear approximation classes. Unlike available results in the literature, the main focus is on the analytical understanding of non-residual estimators like averaging-based estimators as proposed by Zienkiewicz and Zhu or estimators based on equilibrated fluxes.