# Research Papers — 2026-05 · bundle page 173 of 326 > Full-text markdown of papers #8601–8650 of 16266 published in 2026-05, newest first. AI-readable mirrors of the full 16266-paper 2026-05 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-05/page/173 [← Previous bundle](https://aipod.dev/papers/archive/2026-05/page/172.md) [Next bundle →](https://aipod.dev/papers/archive/2026-05/page/174.md) ### Operator-Controlled 6G: From Connectivity Infrastructure to Guaranteed Digital Services Authors: David Soldani Published: 2026-05-15 Categories: cs.NI, cs.AI, cs.ET arXiv: https://arxiv.org/abs/2605.15553v2 Sixth-generation mobile networks (6G) are approaching a structural inflection point. Five generations of vendor-led architectures have left operators procuring and operating networks they do not own, on platforms they cannot modify, with AI layers they cannot audit. This paper argues that 6G must reverse this trajectory by reordering operator priorities: Control First, Customer First, Business First, Operations First, and Technology Last. Technology should serve operator control, customer outcomes, monetizable guarantees, and software-driven operations, not dictate them. Two contributions operationalize this thesis. The "6G Control Compact" defines a three-layer ownership taxonomy--own, federate, and consume--that allocates architectural sovereignty according to strategic value. The "Guarantee Economy" defines a five-tier, outcome-priced commercial model that converts operator control into enforceable service-level objectives. The framework is grounded in operational evidence from Rakuten Mobile, the world's first national-scale, fully cloud-native, fully Open RAN deployment, which reached full-year EBITDA profitability in FY2025. It is aligned with the ITU-R IMT-2030 framework, 3GPP 6G use cases and service requirements, NGMN recommendations, ETSI standards, O-RAN Alliance and AI-RAN Alliance specifications, IOWN Global Forum sustainability metrics, Linux Foundation initiatives, and leading industry and academic programs. A three-phase roadmap covering 2025-2027, 2027-2029, and 2029-2032 and beyond, together with seven stakeholder-specific calls to action, translates the architecture into industry commitments. The central claim is that Rakuten Mobile's deployment demonstrates the feasibility of operator-controlled 6G. Decisions made during 2026-2028 will determine whether 6G becomes a platform for guaranteed digital services or another vendor-dependent infrastructure cycle. --- ### Characterizing Learning in Deep Neural Networks using Tractable Algorithmic Complexity Analysis Authors: Pedram Bakhtiarifard, Sophia N. Wilson, Mahmoud Afifi, Jonathan Wenshøj, Raghavendra Selvan Published: 2026-05-15 Categories: cs.LG arXiv: https://arxiv.org/abs/2605.15551v1 Training large-scale deep neural networks (DNNs) is resource-intensive, making model compression a practical necessity. The widely accepted ''learning as compression'' hypothesis posits that training induces structure in network weights, which enables compression. Measuring this structure through Kolmogorov-Chaitin-Solomonoff (KCS) complexity is appealing, but existing estimators based on the Coding Theorem Method (CTM) and the Block Decomposition Method (BDM) are limited to small binary objects and do not scale to modern DNNs. We introduce the Quantized Block Decomposition method (QuBD), which extends algorithmic complexity estimation to any $k$-ary object. QuBD first quantizes the network weights to a finite alphabet, then estimates the KCS complexity by aggregating per bit-plane CTM estimates. We show theoretically that QuBD yields a strictly tighter estimation gap with respect to true KCS complexity than binarization-based methods. Using QuBD, we study how the algorithmic complexity of neural network weights evolves during training, showing that it decreases as models learn, scales with data budget, increases during overfitting, follows the delayed generalization observed during grokking, and correlates with generalization performance. We further show that algorithmic information resides predominantly in the most significant bit-planes, which can serve as a practical diagnostic for determining appropriate post-training quantization levels. This work offers novel insights into learning mechanisms in DNNs by providing the first scalable, tractable estimates of KCS complexity for large, non-binary objects such as DNN weights. --- ### CTF4Nuclear: Common Task Framework for Nuclear Fission and Fusion Models Authors: Stefano Riva, Carolina Introini, Antonio Cammi, Dean Price, Alexey Yermakov, Yue Zhao, Philippe M. Wyder, Judah Goldfeder, Jan Williams, Amy Sara Rude, Matteo Tomasetto, Joe Germany et al. Published: 2026-05-15 Categories: cs.LG, cs.AI, cs.CE arXiv: https://arxiv.org/abs/2605.15549v1 The demand for clean energy is ever increasing, with new nuclear technologies presenting a complementary solution to renewable energies. However, designing and operating these systems is exceptionally difficult, given the complexity of the physical phenomena that interact to form the system dynamics. While high-fidelity simulations help to understand the non-linear, multi-physics interactions within a reactor, they are computationally expensive and rarely suitable for real-time applications. Furthermore, model-based approaches are inherently sensitive to simplifying assumptions required to derive their governing equations and parameters, leading to inevitable discrepancies with real-world measurements. In contrast, Machine Learning (ML) methods have the potential to generate reliable surrogate models which may be able to quickly predict the system's behaviour. However, the number of data-driven methods that can potentially be used for this task is large and diverse. In a safety-critical setting such as nuclear engineering, a fair comparison of different ML methods, and a clear understanding of their advantages and limitations, is of paramount importance. To address this, we introduce a Common Task Framework (CTF) for ML in nuclear engineering, building upon previous efforts in dynamical systems and seismology. This CTF considers a curated set of datasets from different nuclear and nuclear-adjacent systems. The CTF evaluates the performance of a method on 12 established metrics, alongside a new paradigm focused on system monitoring from sparse measurements only. We illustrate the framework by benchmarking standard ML baselines against these datasets, revealing current method limitations. Our vision is to replace ad hoc comparisons with standardized evaluations on hidden test sets, raising the bar for rigour and reproducibility in scientific ML for the nuclear industry. --- ### 3DTMDet: A Dual-Path Synergy Network of Transformer and SSM for 3D Object Detection in Point Clouds Authors: Bingwen Qiu, Yuan Liu, Junqi Bai, Tong Jiang, Ben Liang, Fangzhou Chen, Xiubao Sui, Qian Chen Published: 2026-05-15 Categories: cs.CV arXiv: https://arxiv.org/abs/2605.15546v1 A fundamental challenge in point cloud object detection lies in the conflict between the extreme sparsity of distant points and the need for remote context understanding. The existing methods typically use 1D serialization to expand the receptive field, which inevitably discards already scarce local geometric details and reduces detection of distant and small objects. To address this issue, we propose 3DTMDet, a novel detection network that synergistically combines state space models (Mamba) with Transformers. The core idea is to utilize SSM's linear complexity and advantages in long sequence modeling to effectively capture global interactions between sparse and distant points, while using Transformer modules with local attention to encode fine-grained geometric structures in local point sets, preserving accurate shape information. We propose the 3D Hybrid Mamba Transformer (3DHMT) block, which uses an SSM-Attention-SSM pipeline to balance global context understanding and local detail preservation, effectively alleviating the tension between receptive field enlargement and geometric preservation in remote detection. In addition, we introduced a voxel generation block inspired by LiDAR physics, which diffuses features along the sensor observation direction to reconstruct the complete object structure of occlusion and distant areas. Extensive experiments conducted on the KITTI and ONCE datasets have shown that 3DTMDet outperforms state-of-the-art detectors. The code is available at https://github.com/QiuBingwen/3DTMDet. --- ### Domain-Independent Game Abstraction using Word Embedding Techniques Authors: Juho Kim, Tuomas Sandholm Published: 2026-05-15 Categories: cs.GT, cs.AI arXiv: https://arxiv.org/abs/2605.15543v1 Many games of interest in the real world are often intractably large, thereby necessitating the use of game abstraction to shrink them in size, typically by many magnitudes. Over the last two decades, there have been significant advances in game abstraction; however, the domain-specific nature (usually poker) of much of the prior work prevents those techniques from being easily generalized to other settings without extensively analyzing the game at hand. In this paper, we propose a domain-independent approach to game abstraction, which applies word embedding techniques from the field of natural language processing. Treating each action as a word and gameplay data as a corpus, word vectors can be trained to represent each action as a real-valued vector, which can then be clustered to facilitate game abstraction. We also explore the use of foundational embedding models and show that action embeddings obtained this way can capture a surprising amount of information about the underlying game. Experimental results demonstrate that our proposed game abstraction technique is effective, although it does not outperform specialized algorithms tailored to specific games. --- ### DRS-GUI: Dynamic Region Search for Training-Free GUI Grounding Authors: Yichao Liu, Huawen Shen, Liu Yu, Shiyu Liu, Zeyu Chen, Yu Zhou Published: 2026-05-15 Categories: cs.AI arXiv: https://arxiv.org/abs/2605.15542v1 GUI agents powered by Multimodal Large Language Models (MLLMs) have demonstrated impressive capability in understanding and executing user instructions. However, accurately grounding instruction-relevant elements from high-resolution screenshots cluttered with irrelevant UI components remains challenging for existing approaches. Inspired by how humans dynamically adjust their perceptual scope to locate task-related regions on complex screens, we propose DRS-GUI, a training-free dynamic region search framework for GUI grounding that can be seamlessly integrated into existing MLLMs. DRS-GUI introduces a lightweight UI Perceptor that performs three human-like perceptual actions (Focus, Shift, and Scatter) to progressively explore the interface and generate region proposals. To dynamically schedule these actions, we further design an Action Planner based on Monte Carlo Tree Search (MCTS). A region quality reward is employed to evaluate and select the highly instruction-relevant region, efficiently pruning redundant UI elements. Experiments demonstrate that DRS-GUI yields a 14\% improvement on ScreenSpot-Pro for general and GUI-specific MLLMs (Qwen2.5-VL-7B and UGround-V1-7B), significantly enhancing grounding performance and generalization. --- ### RTL-BenchMT: Dynamic Maintenance of RTL Generation Benchmark Through Agent-Assisted Analysis and Revision Authors: Jing Wang, Shang Liu, Hangan Zhou, Zhiyao Xie Published: 2026-05-15 Categories: cs.AI arXiv: https://arxiv.org/abs/2605.15537v1 This paper introduces RTL-BenchMT, an agentic framework for dynamically maintaining RTL generation benchmarks. Large Language Models (LLMs) assisted automated RTL generation is one of the most important directions in EDA research. However, current RTL benchmarks face two critical challenges: (1) flawed cases in the benchmarks and (2) overfitting to the benchmarks. Both challenges are difficult to resolve purely by manual engineering effort. To address these issues and systematically reduce human maintenance costs, we propose an automated agentic framework, RTL-BenchMT. RTL-BenchMT focuses on two key applications: (1) automatically identifying and revising flawed benchmark cases and (2) automatically detecting and updating overfitting cases. With the assistance of RTL-BenchMT, we conduct a thorough, in-depth analysis of flawed and overfitting cases and produce a refined benchmark suite that will be open-sourced to the community. --- ### SkiP: When to Skip and When to Refine for Efficient Robot Manipulation Authors: Mingtong Dai, Guanqi Peng, Yongjie Bai, Feng Yan, Chunjie Chen, Lingbo Liu, Liang Lin, Xinyu Wu Published: 2026-05-15 Categories: cs.RO, cs.AI, cs.CV arXiv: https://arxiv.org/abs/2605.15536v1 Previous imitation learning policies predict future actions at every control step, whether in smooth motion phases or precise, contact-rich operation phases. This uniform treatment is wasteful: most steps in a manipulation trajectory traverse free space and carry little task-relevant information, while a small fraction of \emph{key} steps around contacts, grasps, and alignment demand dense, high-resolution prediction. We propose a novel \emph{action relabeling} mechanism: at each timestep in a skip segment, we replace the behavior cloning target with the action at the entrance of the next key segment, enabling the policy to leap over redundant steps in a single decision. The resulting \textbf{Skip Policy (SkiP)} dynamically leaps over skip segments and intensively refines actions in key segments, within a single unified network requiring no learned skip planner or hierarchical structure. To automatically partition demonstrations into key and skip segments without manual annotation, we introduce \emph{Motion Spectrum Keying} (MSK), a fast, task-agnostic procedure that detects local motion complexity from action signals. Extensive experiments across 72 simulated manipulation tasks and three real-robot tasks show that SkiP reduces executed steps by $15$--$40\%$ while matching or improving success rates across various policy backbones. Project page: \texttt{https://pgq18.github.io/SkiP-page/}. --- ### Learning Spatially Adaptive Structural Coordination for Underwater Salient Object Detection Authors: Lin Hong, Chenhui Wang, Linan Deng, Yuning Cui, Yu Zhang, Xin Wang, Bojian Zhang, Xingchen Yang, Fumin Zhang Published: 2026-05-15 Categories: cs.CV arXiv: https://arxiv.org/abs/2605.15535v2 Underwater salient object detection (USOD) has attracted increasing attention for underwater scene understanding and vision-guided robotic applications. However, the spatially non-uniform degradation in underwater images causes spatially varying reliability of structural cues: boundary-sensitive responses can enhance object contours but are vulnerable to degradation-induced noise, whereas region-coherent responses improve semantic completeness but may blur object boundaries. Existing methods rarely explicitly consider the spatial variation in structural cue reliability under underwater image degradation. To address this problem, this work proposes SASC-USOD, a novel framework for learning spatially adaptive structural coordination in USOD. The proposed framework constructs two complementary structural representations with different characteristics. A boundary-sensitive representation is obtained by combining fixed Laplacian filtering with a learnable local-detail transformation to enhance discriminative boundary information, while a region-coherent representation is generated through dual-range anisotropic large-kernel contextual aggregation to capture long-range structural consistency. A spatial coordination module is then introduced to estimate the relative reliability of these structural representations and adaptively coordinate their contributions according to image content. Extensive experiments on the USOD10K and USOD benchmarks demonstrate that SASC-USOD consistently outperforms existing methods, reducing MAE by 4.07\% and 23.53\% compared with the strongest competing method, respectively. Moreover, its lightweight variant runs at 21 FPS on an NVIDIA Jetson TX2 NX, demonstrating its capability for onboard underwater robotic perception. --- ### Learning Dynamic Structural Specialization for Underwater Salient Object Detection Authors: Lin Hong, Chenhui Wang, Linan Deng, Yuning Cui, Yu Zhang, Xin Wang, Bojian Zhang, Wenqi Ren, Xingchen Yang, Fumin Zhang Published: 2026-05-15 Categories: cs.CV arXiv: https://arxiv.org/abs/2605.15535v1 Underwater salient object detection (USOD) has attracted increasing attention for underwater visual scene understanding and vision-guided robotic applications. However, existing USOD methods still struggle with underwater image degradations, which often lead to inaccurate object localization, fragmented salient regions, and coarse boundary prediction. To address these challenges, this paper proposes DSS-USOD, a novel RGB-based USOD method built upon dynamic structural specialization. DSS-USOD extracts a shared base representation from a single underwater image, decomposes it into boundary-sensitive and region-coherent structural features, and dynamically coordinates their contributions according to local structural context. Specifically, the extracted shared base representation is decomposed into a boundary-sensitive branch for modeling fine-grained boundary details and a region-coherent branch for capturing region-level structural consistency. A spatial coordination module is then introduced to adaptively regulate the relative contributions of the two branches according to local structural context. Moreover, cooperative structural supervision is introduced to promote branch specialization and stabilize spatial coordination, enabling DSS-USOD to better balance boundary precision and region coherence under degraded underwater conditions. Extensive experiments show that DSS-USOD achieves superior performance on benchmark datasets. Finally, real-world deployment on an underwater robot validates the practical effectiveness of DSS-USOD for underwater object inspection. --- ### Tuning-free Instruction-based Video Editing Via Structural Noise Initialization and Guidance Authors: Song Wu, Xinyu Chen, Qian Wang, Liang Li, Zili Yi, Junlan Feng Published: 2026-05-15 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2605.15533v1 Video editing poses a significant challenge. While a series of tuning-free methods circumvent the need for extensive data collection and model training, they often underutilize the rich information embedded within noisy latent, leading to unsatisfactory results. To address this, we propose a \textit{tuning-free, instruction-based} video editing framework. We approach video editing from the perspective of noisy latent: we design a Structural Noise Initialization Strategy (SNIS) to secure a superior editing starting point by assigning higher noise levels to edited regions (to facilitate content change) and lower noise levels to unedited regions (to maintain content consistency). We introduce a Noise Guidance Mechanism (NGM), which leverages the video prior in the generative model and effectively integrates rich information within the noisy latent to guide the denoising process, thereby preserving unedited content and overall visual coherence. Experiments show that our proposed method achieves better visual quality and state-of-the-art performance. --- ### DeltaPrompts: Escaping the Zero-Delta Trap in Multimodal Distillation Authors: Jaehun Jung, Hyunwoo Kim, Brandon Cui, Ximing Lu, David Acuna, Prithviraj Ammanabrolu, Yejin Choi Published: 2026-05-15 Categories: cs.LG, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2605.15532v3 Distillation enables compact Vision-Language Models (VLMs) to obtain strong reasoning capabilities, yet the prompts driving this process are typically chosen via simple heuristics or aggregated from off-the-shelf datasets. We reveal a critical inefficiency in this approach: up to 69% of the prompts in standard chart / document reasoning datasets are effectively zero-delta, meaning the teacher and student already induce the exact same answer distribution. Training on these prompts provides minimal learning signal, causing student improvement to rapidly saturate regardless of data scale. To escape the zero-delta trap, we return to first principles: distillation fundamentally minimizes distributional divergence, and thus a prompt is valuable only if it exposes a functional capability gap between the teacher and student. We quantify this gap through answer divergence ($Δ$), demonstrating that non-zero divergence is critical for effective scaling. Building on this insight, we propose a staged synthesis pipeline that repurposes existing datasets as seeds, actively targeting student failure modes to produce better prompts. The result is DeltaPrompts, a diverse dataset of 200k synthetic, high-divergence reasoning problems. We evaluate DeltaPrompts across three distinct settings: on-policy distillation with the target teacher-student pair, transfer to a novel model family without regenerating the data, and off-policy fine-tuning of a non-reasoning model. Across all scenarios, DeltaPrompts drives substantial gains, yielding up to 15% relative improvement even on top of a highly-optimized reasoning model (e.g., Qwen3-VL-8B-Thinking) -- averaged over 10 benchmarks spanning chart, document and perception-centric reasoning. --- ### DeltaPrompts: Escaping the Zero-Delta Trap in Multimodal Distillation Authors: Jaehun Jung, Hyunwoo Kim, Brandon Cui, Ximing Lu, David Acuna, Prithviraj Ammanabrolu, Yejin Choi Published: 2026-05-15 Categories: cs.LG, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2605.15532v2 Distillation enables compact Vision-Language Models (VLMs) to obtain strong reasoning capabilities, yet the prompts driving this process are typically chosen via simple heuristics or aggregated from off-the-shelf datasets. We reveal a critical inefficiency in this approach: up to 69% of the prompts in standard chart / document reasoning datasets are effectively zero-delta, meaning the teacher and student already induce the exact same answer distribution. Training on these prompts provides minimal learning signal, causing student improvement to rapidly saturate regardless of data scale. To escape the zero-delta trap, we return to first principles: distillation fundamentally minimizes distributional divergence, and thus a prompt is valuable only if it exposes a functional capability gap between the teacher and student. We quantify this gap through answer divergence ($Δ$), demonstrating that non-zero divergence is critical for effective scaling. Building on this insight, we propose a staged synthesis pipeline that repurposes existing datasets as seeds, actively targeting student failure modes to produce better prompts. The result is DeltaPrompts, a diverse dataset of 200k synthetic, high-divergence reasoning problems. We evaluate DeltaPrompts across three distinct settings: on-policy distillation with the target teacher-student pair, transfer to a novel model family without regenerating the data, and off-policy fine-tuning of a non-reasoning model. Across all scenarios, DeltaPrompts drives substantial gains, yielding up to 15% relative improvement even on top of a highly-optimized reasoning model (e.g., Qwen3-VL-8B-Thinking) -- averaged over 10 benchmarks spanning chart, document and perception-centric reasoning. --- ### Rethinking Neural Network Learning Rates: A Stackelberg Perspective Authors: Sihan Zeng, Sujay Bhatt, Sumitra Ganesh Published: 2026-05-15 Categories: cs.LG arXiv: https://arxiv.org/abs/2605.15530v3 Neural networks are typically trained with a single learning rate across all layers. While recent empirical evidence suggests that assigning layer-specific learning rates can accelerate training, a principled understanding of the conditions and mechanisms under which non-uniform learning rates are beneficial remains limited. In this work, we investigate non-uniform learning rates through the lens of Stackelberg optimization. Specifically, we demonstrate that training neural networks with a smaller learning rate for the body layers and a larger learning rate for the final layer can be interpreted as a two-time-scale alternating gradient descent algorithm applied to a Stackelberg reformulation of the original objective. We establish finite-time convergence guarantees for the algorithm under broad conditions that accommodate constraint sets and non-smooth activation functions. Beyond convergence, we identify two mechanisms by which non-uniform learning rates can outperform uniform learning rates: (i) we show that certain problem instances induce a Stackelberg objective with stronger optimization structure than the original objective, yielding faster convergence to globally optimal solutions, (ii) our numerical analysis reveals that the Stackelberg objective can exhibit substantially sharper local curvature, especially in early training, which leads to more informative gradients and learning acceleration. Experiments in supervised learning and reinforcement learning support our findings. --- ### Process Rewards with Learned Reliability Authors: Jinyuan Li, Langlin Huang, Chengsong Huang, Shaoyang Xu, Donghong Cai, Yuyi Yang, Wenxuan Zhang, Jiaxin Huang Published: 2026-05-15 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2605.15529v1 Process Reward Models (PRMs) provide step-level feedback for reasoning, but current PRMs usually output only a single reward score for each step. Downstream methods must therefore treat imperfect step-level reward predictions as reliable decision signals, with no indication of when these predictions should be trusted. We propose BetaPRM, a distributional PRM that predicts both a step-level success probability and the reliability of that prediction. Given step-success supervision from Monte Carlo continuations, BetaPRM learns a Beta belief that explains the observed number of successful continuations through a Beta-Binomial likelihood, rather than regressing to the finite-sample success ratio as a point target. This learned reliability signal indicates when a step reward should be trusted, enabling downstream applications to distinguish reliable rewards from uncertain ones. As one application, we introduce Adaptive Computation Allocation (ACA) for PRM-guided Best-of-N reasoning. ACA uses the learned reliability signal to stop when a high-reward solution is reliable and to spend additional computation on uncertain candidate prefixes. Experiments across four backbones and four reasoning benchmarks show that BetaPRM improves PRM-guided Best-of-N selection while preserving standard step-level error detection. Built on this signal, ACA improves the accuracy--token tradeoff over fixed-budget Best-of-16, reducing token usage by up to 33.57% while improving final-answer accuracy. --- ### Neural Point-Forms Authors: Bruno Trentini, Jacob Hume, Vincenzo Antonio Isoldi, Philipp Misof, Ekaterina S. Ivshina, Kelly Maggs Published: 2026-05-15 Categories: cs.LG, cs.AI, math.DG, math.ST arXiv: https://arxiv.org/abs/2605.15524v1 Point cloud learning often rests on the premise that observed samples are noisy traces of an underlying geometric object, such as a manifold embedded in a high-dimensional feature space. Yet much of this geometry is not captured directly by coordinates, pairwise distances, or learned graph neighborhoods alone. In the smooth setting, differential forms are devices to encode higher order tangency information. In this work, we introduce a new family of principled learnable geometric features for point clouds called neural point-forms (NPFs). In the absence of a natural tangency structure, we instead use Laplacian-based techniques from Diffusion Geometry to build a discrete model for comparing differential forms on point clouds via inner products. In the continuum, submanifolds of a shared ambient feature space are represented as comparison matrices, whose entries describe how pairs of feature forms interact with extrinsic tangency information. We make this intuition precise by proving the long-run consistency of comparison matrices under standard sampling, bandwidth, density, and manifold-hypothesis assumptions. This yields a compact, efficient and permutation-invariant neural layer whose output is a learned form-comparison matrix. Across synthetic and biologically relevant experiments, we show that NPFs provide a competitive, and interpretable representation, with the strongest benefits appearing when labels depend on sampling density, manifold-like structure, or response-relevant population geometry. --- ### Self-Prompting Diffusion Transformer for Open-Vocabulary Scene Text Editing via In-Context Learning Authors: Hongxi Li, Tong Wang, Chengjing Wu, Tianbao Liu, Jiangtao Yao, Xiaochao Qu, Xinxiao Wu, Luoqi Liu, Ting Liu Published: 2026-05-15 Categories: cs.CV arXiv: https://arxiv.org/abs/2605.15523v2 Scene text editing aims to modify text in a target region of an image while preserving surrounding background style and texture. Existing methods rely solely on image background information while neglecting the visual details of target regions, which discards stylistic features in the original text and essentially degrades the task to text rendering. Moreover, the conditions imposed by pre-trained glyph encoder limit the scope of editable text. To address these issues, this paper proposes a self-prompting scene text editing method that constructs style and glyph prompts directly from the original image, without introducing additional style or glyph encoders. We employ a two-stage training strategy: the diffusion transformer is first trained on large-scale self-supervised data and then refined using a small set of paired images. By leveraging the in-context learning capability of the Multi-Modal Diffusion Transformer (MM-DiT), it achieves open-vocabulary and style-consistent text editing. Experimental results on various languages demonstrate that our method achieves the state-of-the-art performance in both text accuracy and style consistency. Our project page: hongxiii.github.io/mstedit. --- ### Stochastic Non-Smooth Convex Optimization with Unbounded Gradients Authors: Dmitry Kovalev Published: 2026-05-15 Categories: math.OC, cs.LG arXiv: https://arxiv.org/abs/2605.15522v2 Much of the existing theory on first-order non-smooth optimization is built on a restrictive assumption that the gradients of the objective function are uniformly bounded. We introduce a much more realistic class of generalized Lipschitz functions, where the gradient norms are bounded by an affine function of the optimality gap. We then ask a natural question: what algorithm achieves the best global convergence rates for solving convex stochastic generalized Lipschitz optimization problems? To address this, we develop a new convergence analysis for several existing algorithms and find that AdamW with clipped updates, provably outperforms other popular stochastic optimization methods, such as SGD and AdaGrad. Moreover, our analysis establishes the critical role of AdamW's exponentially weighted gradient accumulation, as opposed to simple averaging. We further show that clipped AdamW is universal and achieves improved rates under the popular generalized smoothness assumption, analyze the convergence of clipped AdamW with diagonal and matrix preconditioners, and extend our results to the quasar-convex setting. --- ### On the Fragility of Data Attribution When Learning Is Distributed Authors: Xian Gao, Bo Hui, Min-Te Sun, Wei-Shinn Ku Published: 2026-05-15 Categories: cs.LG, cs.AI, cs.DC arXiv: https://arxiv.org/abs/2605.15520v1 Data attribution has become an important component of pricing, auditing, and governance in machine learning pipelines, yet most attribution methods implicitly assume that attribution values faithfully reflect participants' contributions. We show that this assumption can fail: a single participant in a standard distributed training workflow can substantially inflate its measured attribution value while preserving global utility. Our attribution-first attack uses latent optimization to inject small synthetic batches that preserve utility while exploiting non-IID label coverage and evaluator sensitivities. Across datasets, models, and multiple marginal-utility evaluators, the attack consistently increases the adversary's attribution value and reshapes the relative attribution structure among benign clients without degrading accuracy or triggering geometry-based defenses. These results show that attribution itself forms a new attack surface and motivate the development of attribution-robust and incentive-compatible scoring mechanisms. --- ### DiffVAS: Diffusion-Guided Visual Active Search in Partially Observable Environments Authors: Anindya Sarkar, Srikumar Sastry, Aleksis Pirinen, Nathan Jacobs, Yevgeniy Vorobeychik Published: 2026-05-15 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2605.15519v1 Visual active search (VAS) has been introduced as a modeling framework that leverages visual cues to direct aerial (e.g., UAV-based) exploration and pinpoint areas of interest within extensive geospatial regions. Potential applications of VAS include detecting hotspots for rare wildlife poaching, aiding search-and-rescue missions, and uncovering illegal trafficking of weapons, among other uses. Previous VAS approaches assume that the entire search space is known upfront, which is often unrealistic due to constraints such as a restricted field of view and high acquisition costs, and they typically learn policies tailored to specific target objects, which limits their ability to search for multiple target categories simultaneously. In this work, we propose DiffVAS, a target-conditioned policy that searches for diverse objects simultaneously according to task requirements in partially observable environments, which advances the deployment of visual active search policies in real-world applications. DiffVAS leverages a diffusion model to reconstruct the entire geospatial area from sequentially observed partial glimpses, which enables a target-conditioned reinforcement learning-based planning module to effectively reason and guide subsequent search steps. Extensive experiments demonstrate that DiffVAS excels in searching diverse objects in partially observable environments, significantly surpassing state-of-the-art methods on several datasets. --- ### DetectRL-X: Towards Reliable Multilingual and Real-World LLM-Generated Text Detection Authors: Junchao Wu, Yefeng Liu, Chenyu Zhu, Hao Zhang, Zeyu Wu, Tianqi Shi, Yichao Du, Longyue Wang, Weihua Luo, Jinsong Su, Derek F. Wong Published: 2026-05-15 Categories: cs.CL arXiv: https://arxiv.org/abs/2605.15518v2 The effective detection and governance of Large Language Model (LLM) generated content has become increasingly critical due to the growing risk of misuse. Despite the impressive performance of existing detectors, their reliability and potential in multilingual, real-world scenarios remain largely underexplored. In this study, we introduce DetectRL-X, a comprehensive multilingual benchmark designed to evaluate advanced detectors across 8 dimensions. The benchmark encompasses 8 languages commonly used in commercial contexts and collects human-written texts from 6 domains highly susceptible to LLM misuse. To better aligned with real-world applications, We create LLM-generated texts using 4 popular commercial LLMs, and include typical AI-assisted writing operations such as polishing, expanding, and condensing to capture authentic usage patterns. Furthermore, we develop a multilingual framework for paraphrasing and perturbation attacks to simulate diverse human modifications and writing noise, enabling stress testing of detectors across languages. Experimental results on DetectRL-X reveal the strengths and limitations of current state-of-the-art detectors when applied to diverse linguistic resources. We further analyze how domains, generators, attack strategies, text length, and refinement operations influence performance in different languages, underscoring DetectRL-X as an effective benchmark for strengthening multilingual and language-specific detectors. --- ### RoPE Distinguishes Neither Positions Nor Tokens in Long Contexts, Provably Authors: Yufeng Du, Phillip Harris, Minyang Tian, Eliu A Huerta, Srikanth Ronanki, Subendhu Rongali, Aram Galstyan, Hao Peng Published: 2026-05-15 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2605.15514v1 We identify intrinsic limitations of Rotary Positional Embeddings (RoPE) in Transformer-based long-context language models. Our theoretical analysis abstracts away from the specific content of the context and depends only on its length. We prove that as context length increases, RoPE-based attention becomes unpredictable and loses two properties that are central to its effectiveness. First, it loses its locality bias: RoPE is no more likely to favor nearer positions than substantially farther ones. Second, it loses consistency in token relevance: a key vector that receives a higher attention score than an alternative at one position may receive a lower score at another. In both cases, the probability of failure approaches 0.5, no better than random guessing. We further prove that the attention score can remain unchanged when a key token is moved to a different position, or even replaced by a different token, indicating a failure to distinguish positions or tokens. Adjusting the RoPE base trades off distinguishing positions against distinguishing tokens but cannot preserve both at the same time. Increasing the RoPE base hyperparameter, a common practice in today's long-context models, helps distinguish different tokens, but inevitably sacrifices the ability to distinguish positions. Our empirical analysis shows that multi-head, multi-layer architectures are insufficient to overcome these limitations. Our findings suggest that fundamentally new mechanisms for encoding position and token order may be needed in future Transformer long-context language models. --- ### CAPS: Cascaded Adaptive Pairwise Selection for Efficient Parallel Reasoning Authors: Fangzhou Lin, Shuo Xing, Peiran Li, Siyuan Yang, Qianwen Ge, Kazunori Yamada, Ziming Zhang, Haichong Zhang, Zhengzhong Tu Published: 2026-05-15 Categories: cs.AI arXiv: https://arxiv.org/abs/2605.15513v1 Parallel reasoning, where a generator samples many candidate solutions and an aggregator selects the best, is one of the most effective forms of test-time scaling in large language models, and pairwise self-verification has become its strongest aggregation primitive. Yet pairwise verification carries a heavy cost: each judgment reads two complete solutions in full, and existing methods perform tens of such judgments per problem regardless of whether the comparison is informative. We introduce CAPS (Cascaded Adaptive Pairwise Selection), an inference-only framework that allocates verifier compute non-uniformly along two orthogonal axes: an evidence axis that adapts how much of each candidate the judge sees, and a distribution axis that adapts how comparisons are spread across the pool. CAPS instantiates these into a four-stage cascade with an optional rescue subroutine, and admits a closed-form verifier-token cost in which the per-candidate marginal cost is roughly halved relative to uniform full-evidence schedules. On four self-verifying models (Qwen3-14B, GPT-OSS-20B, Qwen3-4B-Instruct/Thinking) and five reasoning benchmarks spanning code (LiveCodeBench-v5/v6, CodeContests) and math (AIME 2025, HMMT 2025), CAPS outperforms the leading pairwise verifier on 14 of 20 suites while using 25.4% of its verifier-token budget on code, and outperforms pointwise self-verification on all 20. The trade-off suites admit an interpretable diagnostic in terms of the verifier's accuracy at partial versus full evidence, providing a concrete pre-deployment check for cascade suitability. --- ### OgBench: A Framework for Evaluating Graph Neural Networks on Omics Data Authors: Louisa Cornelis, Johan Mathe, Louis Van Langendonck, Guillermo Bernárdez, Nina Miolane Published: 2026-05-15 Categories: cs.LG arXiv: https://arxiv.org/abs/2605.15511v2 Graph Neural Networks (GNNs) have become the dominant framework for inductive graph-level learning. Yet most benchmarks focus on the regime $n \gg p$, where the number of graphs $n$ greatly exceeds the number of nodes per graph $p$. This overlooks biological domains such as omics, which operate in the opposite $n \ll p$ regime, characterized by large graphs of genes, transcripts, or proteins across few patient samples. This raises the question: \textit{how do GNNs perform in this low-sample, high-node omics setting?} We introduce \texttt{OgBench} (Omics-Graph Bench), the first benchmarking platform for graph-level prediction in the $n \ll p$ regime characteristic of omics data. We provide a standardized, end-to-end modular infrastructure from raw omics data to families of featured graphs with varied structural properties. We benchmark classical GNNs, as well as GNNs designed for large graphs and omics applications, alongside MLPs and machine learning baselines to establish reference performances. Our results show that widely used GNNs often do not outperform simple MLPs and classical baselines. These findings challenge the prevailing assumption that graph structure inherently adds value in this domain, fostering a critical reassessment of current learning paradigms. Ultimately, by exposing these limitations, OgBench provides the open-source ecosystem necessary for the community to develop and validate novel architectures explicitly tailored for biological graphs. The code is available at https://github.com/geometric-intelligence/ogbench. --- ### parallelcbf: A composable safety-filter and auditability framework for tensor-parallel reinforcement learning Authors: Yijun Lu, Zilei Yang, Yuyin Ma Published: 2026-05-15 Categories: cs.LG, cs.RO arXiv: https://arxiv.org/abs/2605.15509v1 While Isaac Lab provides massive parallel UAV simulation, OmniSafe and safe-control-gym provide constrained-RL benchmarks, and CBFKit provides control-barrier-function synthesis tooling, no existing framework unifies these capabilities for end-to-end safety-constrained training. ParallelCBF is the first framework to unify (i)~tensor-parallel UAV environments, (ii)~hard-gate CBF safety filters, (iii)~sharded BC-to-RL pipelines, and (iv)~first-class operational auditability -- pre-registration, watchdog registries, failure forensics, and dataset audits as composable APIs rather than user-implemented scripts. We release ParallelCBF v0.1.0 under Apache~2.0 with a four-layer composable API, a CPU PyTorch reference implementation of a dual-barrier (squared / linear-predictive) CBF, property-based safety invariance tests across vectorized batch sizes that complete in 1.67~s for the full 39-test suite, and a 31{,}415-episode behavior-cloning collection campaign whose curriculum mix, per-bucket yields, and dataset SHA-256 are auditable through the framework's own \texttt{ops} primitives. We report a representative end-to-end pipeline execution in which the framework's auditability layer halted a downstream training stage that did not meet pre-registered convergence criteria, preventing silent propagation of a degraded checkpoint -- an architectural property we argue is necessary, not merely useful, for reproducible empirical robotics research. The framework is installable via \texttt{pip install parallelcbf}; source and release artifacts are available at https://github.com/xiaoyang-123-cell/ParallelCBF. --- ### STS: Efficient Sparse Attention with Speculative Token Sparsity Authors: Jiangnan Yu, Ceyu Xu, Yongji Wu, Yuan Xie Published: 2026-05-15 Categories: cs.LG, cs.CL arXiv: https://arxiv.org/abs/2605.15508v3 The quadratic complexity of attention imposes severe memory and computational bottlenecks on Large Language Model (LLM) inference. This challenge is particularly acute for emerging agentic applications that require processing multi-million token sequences. We propose STS, a sparse attention mechanism that requires no model retraining. STS leverages the key insight that tokens identified as important by a smaller draft model are highly predictive of important tokens for a larger target model. By integrating into speculative decoding frameworks, STS repurposes the draft model's attention scores to dynamically construct a token-and-head-wise sparsity mask. This mask effectively prunes the expensive attention computation in the target LLM. Our evaluation shows that STS achieves a 2.67x speedup operating at approximately 90% sparsity on representative benchmark NarrativeQA, maintaining negligible accuracy degradation compared to dense attention. STS establishes a new state-of-the-art on the sparsity-accuracy trade-off, outperforming prior techniques by enabling higher sparsity levels for a given accuracy budget. --- ### STS: Efficient Sparse Attention with Speculative Token Sparsity Authors: Ceyu Xu, Jiangnan Yu, Yongji Wu, Yuan Xie Published: 2026-05-15 Categories: cs.LG, cs.CL arXiv: https://arxiv.org/abs/2605.15508v2 The quadratic complexity of attention imposes severe memory and computational bottlenecks on Large Language Model (LLM) inference. This challenge is particularly acute for emerging agentic applications that require processing multi-million token sequences. We propose STS, a sparse attention mechanism that requires no model retraining. STS leverages the key insight that tokens identified as important by a smaller draft model are highly predictive of important tokens for a larger target model. By integrating into speculative decoding frameworks, STS repurposes the draft model's attention scores to dynamically construct a token-and-head-wise sparsity mask. This mask effectively prunes the expensive attention computation in the target LLM. Our evaluation shows that STS achieves a 2.67x speedup operating at approximately 90% sparsity on representative benchmark NarrativeQA, maintaining negligible accuracy degradation compared to dense attention. STS establishes a new state-of-the-art on the sparsity-accuracy trade-off, outperforming prior techniques by enabling higher sparsity levels for a given accuracy budget. --- ### PrismQuant: Rate-Distortion-Optimal Vector Quantization for Gaussian-Mixture Sources Authors: Bumsu Park, Chanho Park, Youngmok Park, Namyoon Lee Published: 2026-05-15 Categories: cs.IT, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2605.15507v1 For a Gaussian source under mean-squared error (MSE), classical transform coding is rate--distortion (RD) optimal: the Karhunen--Loeve transform (KLT) diagonalizes the covariance, reverse waterfilling allocates the bits, and scalar quantization closes the loop. This elegant story breaks down for multimodal sources, where no single covariance can capture heterogeneous local geometries, and the RD function loses its closed form. We revisit this problem through Gaussian-mixture sources and develop a constructive RD theory for them. Our key finding is that the mixture structure incurs only a component label cost. Conditioned on the active mixture component, each branch is Gaussian; the challenge is allocating bits across heterogeneous branches. We prove that the genie-aided conditional RD function is governed by a single global reverse-waterfilling level shared across all components and eigenmodes. Building on this result, we introduce PrismQuant, which transmits the component label losslessly and encodes the residual using the component-matched KLT, followed by scalar quantization, achieving a rate of H(C)/n bits per source dimension of the converse, with a vanishing asymptotic gap. We further develop a practical implementation based on EM-driven Gaussian-mixture learning, component-adaptive KLTs, and entropy-constrained scalar quantization (ECSQ). Experiments on synthetic Gaussian mixtures show that PrismQuant closely approaches the theoretical RD bound, while experiments on real-world channel-state-information (CSI) data demonstrate competitive or superior performance compared with transformer-based learned codecs at more than one order of magnitude smaller model size. --- ### X-SYNTH: Beyond Retrieval -- Enterprise Context Synthesis from Observed Digital Human Attention Authors: Guruprasad Raghavan, George Nychis, Rohan Narayana Murthy Published: 2026-05-15 Categories: cs.AI, cs.IR, cs.LG arXiv: https://arxiv.org/abs/2605.15505v2 In enterprise operations, the context required for an AI agent task is scattered across systems of record, static information stores, and communication channels. What is stored is system state, a lossy representation of the work that actually happened. The prevailing approach retrieves by matching request content to what is stored; for narrow requests this works well. But synthesis quality depends on knowing what to surface and how to interpret it: knowledge specific to each organization, team, and individual, present in behavioral patterns, absent from any retrieval index. For the agentic task of proposing enterprise-valuable leads to sellers, this approach breaks down: True Lead Rate is low, False Lead Rate is high, and the model has no mechanism to improve. We present X-SYNTH, a framework for enterprise context synthesis grounded in digital human attention, the digitally observable interaction signatures of each worker, encoding what they did, the sequence in which they did it, and implicit reward signals. Behavioral traces preceding positive outcomes are distinguishable from those that did not, without external labeling. X-SYNTH models each individual's behavioral baseline as a Digital Twin Signature (DTS) and selects among seven attention filters, Proportional, Inverse, Differential, Recurrent, Comparative, Sequential, and Collective, per individual and per query, to identify causally relevant activity signatures. A four-stage pipeline assembles ranked context grounded in behavioral patterns rather than query embeddings. A frontier model unaided achieves 9.5% True Lead Rate (TLR) with 90.5% False Lead Rate (FLR). Augmented with X-SYNTH, TLR rises to 61.9% (6.5x) while FLR falls to 18.8%. Enterprise context synthesis is not a retrieval problem. It is a relevance problem, and digital human attention is its most reliable ground truth. --- ### Learning with Conflicts of Interest Authors: Nischal Aryal, Arash Termehchy, Ali Vakilian, Marianne Winslett Published: 2026-05-15 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2605.15504v1 Financial, social, and political factors often prevent the interests of the owners of ML systems and services and their users from being perfectly aligned. ML systems often produce biased information that can influence users to make decisions that are not in their best interest. Current solution approaches require ML systems to implement protocols to mitigate their biases. However, ML system owners usually do not have any incentive to implement these protocols and often argue that it limits their freedom of expression or business. We believe that a successful solution to this problem must recognize the conflict of interest between the ML systems and their users, and use this information to protect users against information that adversely influences their decisions while allowing users to safely benefit from these systems. To this end, we propose a game-theoretic framework that models the interaction between ML systems and users with conflicts of interest. We present scalable algorithms with theoretical guarantees that maximize the amount of desired information and actions and minimize the amount of biased and manipulative actions in interaction with ML systems. --- ### AnyAct: Towards Human Reenactment of Character Motion From Video Authors: Liuhan Chen, Lei Zhong, Jiawei Wang, Qing Shuai, Li Yuan, Leidong Fan, Qing Li, Kanglin Liu Published: 2026-05-15 Categories: cs.CV, cs.GR arXiv: https://arxiv.org/abs/2605.15497v4 We study the problem of directly deriving an initial human reenactment from a monocular video of a non-human character. Our goal is not to reconstruct the source character itself but to reinterpret its motion as a plausible and editable human performance for downstream animation authoring. This task is challenging because existing video-based motion capture methods are largely restricted to human-centric structural spaces, while motion retargeting methods typically require structured 3D source motions and known source topologies. Our key insight is that sparse local articulated motion cues can preserve essential dynamics across large structural differences, providing a stable bridge from character video to human reenactment. Based on this observation, we propose AnyAct, which formulates character-video-driven human reenactment as conditional human motion generation from transferable sparse local 2D articulated motion. To make this practical, we introduce three key designs: human-motion-only supervision via augmented 3D-to-2D projection, progressive 3D-to-2D training to alleviate conditioning ambiguity, and global-local motion decoupling for reliable local motion control. We further construct a benchmark primarily covering diverse non-human character videos. Experiments on the benchmark show that AnyAct produces high-fidelity initial human reenactments that preserve the essential dynamics of the characters in reference videos, and further ablation studies validate the effectiveness of its core designs. --- ### AnyAct: Towards Human Reenactment of Character Motion From Video Authors: Liuhan Chen, Lei Zhong, Jiawei Wang, Qin Shuai, Li Yuan, Leidong Fan, Qing Li, Kanglin Liu Published: 2026-05-15 Categories: cs.CV, cs.GR arXiv: https://arxiv.org/abs/2605.15497v3 We study the problem of directly deriving an initial human reenactment from a monocular video of a non-human character. Our goal is not to reconstruct the source character itself but to reinterpret its motion as a plausible and editable human performance for downstream animation authoring. This task is challenging because existing video-based motion capture methods are largely restricted to human-centric structural spaces, while motion retargeting methods typically require structured 3D source motions and known source topologies. Our key insight is that sparse local articulated motion cues can preserve essential dynamics across large structural differences, providing a stable bridge from character video to human reenactment. Based on this observation, we propose AnyAct, which formulates character-video-driven human reenactment as conditional human motion generation from transferable sparse local 2D articulated motion. To make this practical, we introduce three key designs: human-motion-only supervision via augmented 3D-to-2D projection, progressive 3D-to-2D training to alleviate conditioning ambiguity, and global-local motion decoupling for reliable local motion control. We further construct a benchmark primarily covering diverse non-human character videos. Experiments on the benchmark show that AnyAct produces high-fidelity initial human reenactments that preserve the essential dynamics of the characters in reference videos, and further ablation studies validate the effectiveness of its core designs. --- ### LAPS: Improving Incremental LiDAR Mapping using Active Pooling and Sampling for Neural Distance Fields Authors: Dongjae Lee, Wooseong Yang, Yifu Tao, Maurice Fallon, Ayoung Kim Published: 2026-05-15 Categories: cs.RO, cs.CV arXiv: https://arxiv.org/abs/2605.15496v1 Neural distance fields offer a compact and continuous representation of 3D geometry, making them attractive for incremental LiDAR mapping. However, their online optimization is vulnerable to catastrophic forgetting, where new observations can degrade previously reconstructed geometry. Replay-based training is commonly used to address this issue, but existing methods typically rely on passive replay buffers and uniform sampling, which can waste memory on redundant observations and under-train poorly constrained regions. We propose LAPS, a replay management framework for incremental neural mapping that improves both replay retention and replay allocation during online updates. LAPS combines reliability-based active pooling to retain reliable historical samples under limited memory with uncertainty-guided active sampling to focus optimization on under-constrained regions. Experiments on synthetic and real-world benchmarks show that LAPS consistently improves reconstruction completeness while maintaining competitive geometric accuracy. On Oxford Spires, it improves recall by 4.66 pp and F1-score by 3.79 pp over PIN-SLAM on the Blenheim Palace 05 sequence. We release our open source implementation at: https://github.com/dongjae0107/LAPS. --- ### FLASH: Efficient Visuomotor Policy via Sparse Sampling Authors: Jiaqi Bai, Jindou Jia, Yuxuan Hu, Gen Li, Xiangyu Chen, Tuo An, Kuangji Zuo, Jianfei Yang Published: 2026-05-15 Categories: cs.RO, cs.CV arXiv: https://arxiv.org/abs/2605.15492v1 Generative models such as diffusion and flow matching have become dominant paradigms for visuomotor policy learning, yet their reliance on iterative denoising incurs high inference latency incompatible with real-time robotic control. We present Fast Legendre-polynomial Action policy via Sparse History-anchored flow (FLASH Policy), which replaces discrete action-chunk generation with continuous Legendre polynomial trajectory representation. Specifically, by fitting expert demonstrations under sparse temporal sampling, FLASH enables a single inference to cover a significantly extended action horizon. To further accelerate generation, FLASH initiates the flow matching process from history polynomial coefficients rather than uninformative Gaussian noise, shortening the transport distance and enabling accurate single-step inference. Moreover, analytic polynomial differentiation directly provides desired velocity feed-forward signals to the torque controller without numerical approximation. Extensive experiments on five simulated and two real-world manipulation tasks demonstrate that FLASH achieves state-of-the-art success rates ($\ge 92\%$ across all tasks), a per-episode inference time of $31.40\,ms$ (up to $175\times$ faster than diffusion policies and $18\times$ faster than prior flow matching policies), up to $4\times$ faster training convergence than ACT, and $5\times$ to $7\times$ reduction in controller tracking error compared to discrete-action baselines. --- ### Ghosted Layers: Unconstrained Activation Alignment for Recovering Layer-Pruned LLMs Authors: Vincent-Daniel Yun, Junhyuk Jo, Sai Praneeth Karimireddy, Sunwoo Lee Published: 2026-05-15 Categories: cs.LG, cs.AI, cs.PF arXiv: https://arxiv.org/abs/2605.15491v2 Layer pruning removes entire Transformer decoder blocks from large language models, but introduces a mismatch between the hidden state received by the next surviving layer and the distribution it was trained to process, leading to significant performance degradation. We propose Ghosted Layers, a training-free recovery module that addresses this issue by solving a boundary activation alignment problem. Our method derives a closed-form optimal linear operator from a small calibration set to reconstruct the activation discrepancy introduced by the pruned layers. We show that this solution corresponds to the unconstrained optimum of the alignment objective, whereas existing methods are restricted to constrained solutions over limited operator subspaces. Experiments across multiple LLM backbones and pruning strategies demonstrate that our method consistently improves accuracy and perplexity over prior training-free baselines, while preserving the efficiency gains of layer pruning. Official code repository: https://github.com/daniel-eai/ghosted_layers_official_repository/. --- ### SurvivalPFN: Amortizing Survival Prediction via In-Context Bayesian Inference Authors: Shi-ang Qi, Vahid Balazadeh, Michael Cooper, Russell Greiner, Rahul G. Krishnan Published: 2026-05-15 Categories: cs.LG, stat.ML arXiv: https://arxiv.org/abs/2605.15488v1 Survival analysis provides a powerful statistical framework for modeling time-to-event outcomes in the presence of censoring. However, selecting an appropriate estimator from the many specialized survival approaches often requires substantial methodological and domain expertise. We introduce SurvivalPFN, a prior-data fitted network that amortizes Bayesian inference for censored observations through in-context learning. SurvivalPFN is pretrained on a diverse family of synthetic, identifiable, and right-censored data-generating processes, enabling it to amortize survival analysis in a single forward pass during inference. As a result, the model adapts to the effective complexity of each dataset without task-specific training or hyperparameter tuning, avoids restrictive parametric assumptions, and produces calibrated survival distributions. In a large-scale benchmark spanning 61 datasets, 21 methods, and 5 evaluation metrics, SurvivalPFN achieves strong predictive performance and often improves upon established survival models. These results suggest that SurvivalPFN offers a principled and practical foundation model for survival analysis, with potential applications in high-impact domains such as healthcare, finance, and engineering (https://github.com/rgklab/SurvivalPFN). --- ### Learning Normalized Energy Models for Linear Inverse Problems Authors: Nicolas Zilberstein, Santiago Segarra, Eero Simoncelli, Florentin Guth Published: 2026-05-15 Categories: cs.LG, cs.CV, eess.IV arXiv: https://arxiv.org/abs/2605.15487v1 Generative diffusion models can provide powerful prior probability models for inverse problems in imaging, but existing implementations suffer from two key limitations: $(i)$ the prior density is represented implicitly, and $(ii)$ they rely on likelihood approximations that introduce sampling biases. We address these challenges by introducing a new energy-based model trained for denoising with a covariance-based regularization term that enforces consistency across different measurement conditions. The trained model can compute normalized posterior densities for diverse linear inverse problems, without additional retraining or fine tuning. In addition to preserving the sampling capabilities of diffusion models, this enables previously unavailable capabilities: energy-guided adaptive sampling that adjusts schedules on-the-fly, unbiased Metropolis-Hastings correction steps, and blind estimation of the degradation operator via Bayes rule. We validate the method on multiple datasets (ImageNet, CelebA, AFHQ) and tasks (inpainting, deblurring), demonstrating competitive or superior performance to established baselines. --- ### Hybrid LLM-based Intelligent Framework for Robot Task Scheduling Authors: Swayamjit Saha, Subhabrata Das, Haonan Duan, Xiao-Yang Liu Published: 2026-05-15 Categories: cs.RO, cs.AI arXiv: https://arxiv.org/abs/2605.15486v1 This study introduces intelligent frameworks that use Large Language Models (LLMs) to improve task scheduling for construction robots. The LLM is fed with key data about the desired task, such as agent action abilities, and the desired end goal to be achieved. A well-balanced allocation strategy is developed, optimizing both time efficiency and resource utilization. Our system utilizes a Natural Language Processing interface to streamline communication with construction professionals and adapt in real-time to unexpected site conditions. We concurrently use two LLM agents, specifically generator (GPT-4) and supervisor (Gemma 3/Llama 4/Mistral 7b) LLM agents to provide a more precise task schedule. We evaluate the proposed methodology using a straightforward scenario and provide metric scores to prove the efficacy of the frameworks. Our results highlight that the implementation of LLMs is crucial in construction operational tasks including robots. --- ### When Does Sparse MoE Help in Vision? The Role of Backbone Compute Leverage in Sparse Routing Authors: Libo Sun, Po-wei Harn, Peixiong He, Xiao Qin Published: 2026-05-15 Categories: cs.CV, cs.LG arXiv: https://arxiv.org/abs/2605.15484v1 Mixture-of-Experts (MoE) networks promise favorable accuracy-compute trade-offs, yet practical vision deployments are hindered by expert collapse and limited end-to-end efficiency gains. We study when sparse top-$k$ routing with hard capacity constraints helps in vision classification, evaluated under multi-seed protocols on four benchmarks (CIFAR-10/100, Tiny-ImageNet, ImageNet-1K). We observe a \emph{compute-leverage pattern}: positive accuracy gaps require a substantial fraction $ρ$ of total FLOPs to be routed; at ImageNet scale this is necessary but not sufficient, as multi-expert routing ($k \geq 2$) is additionally required. Two controlled experiments isolate these factors. A hidden-size sweep on CIFAR-10 yields both predicted sign reversals across standard and depthwise backbones, ruling out backbone family as the active variable. An ImageNet-1K ablation that varies only top-$k$ -- holding architecture, initialization, and $ρ$ fixed -- reverses the gap from positive to negative across all five seeds. A per-sample variant of Soft MoE that softmaxes over experts rather than the batch rescues CIFAR-100 above the dense baseline, identifying batch-axis dispatch as the dominant failure mode in per-sample CNN settings. Code and aggregate results: https://github.com/libophd/sparse-moe-vision-rho. --- ### Research on Optimized Fuzzy PID Temperature Control Strategy Based on Improved Particle Swarm Optimization Authors: Renjie Jin Published: 2026-05-14 Categories: cs.NE arXiv: https://arxiv.org/abs/2609.00001v1 Precise temperature control is critical in industrial automation, governing product quality in processes from chemical reactors to furnaces. However, high-order inertia, time delays, and parameter drift render traditional PID and manual fuzzy controllers inadequate. To surmount these hurdles, this study presents a robust framework: a Fuzzy PID strategy optimized by a novel Levy-flight Improved Particle Swarm Optimization (LMPSO) algorithm. Addressing the "curse of dimensionality" in fuzzy tuning, LMPSO integrates Levy flight mutation to shatter premature convergence and an Elite Memory Pool to secure evolutionary efficiency. Simulations on a First-Order Plus Dead Time (FOPDT) model reveal the algorithm's potency: it slashes settling time to 105.5 s -- approximately 46.7% faster than standard PSO and 42.5% faster than competitive improved PSO variants -- while achieving an optimal ITAE value. Robustness tests confirm superior stability under severe model mismatches, proving its viability for high-precision industrial applications. --- ### SimGuide: Typed Multi-Context User Representations for Preference-Conditioned Agent Planning Authors: Chirag Shah Published: 2026-05-14 Categories: cs.AI arXiv: https://arxiv.org/abs/2608.24888v2 Agents that act on a user's behalf must plan differently for different users, and increasingly do so from some structured representation of user context and not from raw interaction history. How much that structure is worth, and which parts of it carry the value, is largely unmeasured. We introduce SimBench, 47 preference-conditioned planning tasks over 9 synthetic users represented as 28 typed, potentially conflicting context blocks, where the correct plan depends on which contexts are active and how their conflicts are resolved. Against it we evaluate SimGuide, a framework combining typed multi-context representation, explicit conflict arbitration, and optional procedural grounding of individual constraints. Across three models and six user-context representations, SimGuide's typed blocks with arbitration outperform retrieval over the same user's past decisions by +0.210, +0.205 and +0.144 Preference Adherence on Llama 3.3 70B, GPT-4o and Claude Sonnet 4.5 respectively (all p < 0.001); removing the arbitration instruction alone costs up to +0.209. Grounding each constraint with a worked example of past application helps only where the model has headroom: +0.094 on Llama 70B (p < 0.001), falling to +0.029 on GPT-4o and +0.002 on Claude, which already scores perfectly on 35 of 47 tasks without it. We report the benchmark's minimum detectable effect alongside its results. The benchmark ships with a provenance audit that re-derives every reported number from the prompt that produced it. --- ### Orbital AI Computing: Carbon Tradeoffs Across Satellite Scale Authors: Nisha Sarwar, Lei Jiang, Fan Chen Published: 2026-05-14 Categories: cs.DC, cs.AI arXiv: https://arxiv.org/abs/2608.14557v1 Low Earth Orbit (LEO) computing is emerging for low-latency, globally distributed AI services, enabled by advances in satellite constellations and reusable launch systems. However, its sustainability remains unclear. Prior work introduces ESpaS, a framework for estimating lifecycle carbon intensity, but models systems using generic datacenter configurations and does not capture modern AI hardware, where power, mass, and compute characteristics vary widely and launch emissions scale with system mass. In this work, we extend ESpaS with accelerator-aware modeling and evaluate two representative systems: a lightweight Jetson AGX Orin for small satellites and a high-performance DGX H100 enabled by large-payload launch platforms. We show that launch emissions act as a fixed carbon overhead: low-mass systems minimize absolute emissions, while high-performance systems amortize this cost more effectively, reducing carbon intensity. Consequently, the space-ground tradeoff is highly sensitive to hardware choice, highlighting the need for accelerator-aware baselines in orbital AI computing. --- ### Learning Discrete Riemannian Metrics for Physical Fields with Cochain-Frame Equivarianc Authors: Dongzhe Zheng, Christine Allen-Blanchette Published: 2026-05-14 Categories: cs.LG arXiv: https://arxiv.org/abs/2608.14556v1 Physical fields on meshes require a separation between topology and geometry: conservation laws are topological and should be exact, while geometry, material response, and anisotropic coupling must be learned from data. Existing neural surrogates often mix these roles inside unconstrained message passing. We introduce Riemannian Hodge Message Passing (RHMP), which turns this separation into an architectural principle. RHMP fixes the cellular coboundaries ($d_k$) determined by oriented incidence and learns symmetric positive-definite cochain metrics ($H_k$) for geometry-dependent propagation. Treating $H_k$ as the learned metric motivates cochain-frame equivariance: physical propagation should be invariant to orthogonal changes of the hidden cochain feature basis. RHMP implements this principle with metric-weighted Hodge blocks ($d_k^\top H_{k+1}d_k$), yielding exact cochain-complex identities ($d_{k+1}d_k=0$), nonnegative Hodge energies, positive-semidefinite operators, and exact Abelian curvature invariance. Across seven physical benchmarks spanning fluids, electromagnetism, gauge fields, and variable-mesh CFD, RHMP achieves the best overall performance, with the largest gains when topology, learned geometry, and field structure interact. --- ### TabletCraft: Bridging a 4,000-Year Cultural Gap with Bidirectional Akkadian NMT and Cuneiform Rendering Authors: Zhaohui Wang Published: 2026-05-14 Categories: cs.CL, cs.LG arXiv: https://arxiv.org/abs/2608.02609v1 Half a million cuneiform clay tablets survive in museums worldwide, yet modern users can neither read nor write in the world's oldest writing system, leaving a 4,000-year cultural barrier that existing NLP tools have only partially addressed. Prior work enables one-way, scholar-oriented translation from Akkadian to English, but offers no path in the reverse direction: non-specialist users cannot compose new content in cuneiform, and therefore remain passive consumers of ancient culture rather than active participants. We present TabletCraft, the first open-source system that enables bidirectional interaction with Mesopotamian writing. Users can read ancient tablets (Akkadian to English) and compose new messages as cuneiform clay tablets (English to Akkadian to cuneiform to rendered tablet). The system integrates a ByT5-based translation model trained on 116K bidirectional samples, a cuneiform sign converter with 14,240 mappings (95.3% coverage), and a visual tablet renderer, packaged as a pip-installable toolkit with CLI and web demo. On the held-out Akkademia validation split (2,812 samples), we report 49.1 BLEU for Akkadian-to-English and 48.5 BLEU for English-to-Akkadian, the first published quantitative result in the reverse direction. --- ### Dropping the Anchor: Statistical Context Summarization for Distributed Systems via Pulsar Attention Authors: Aryan Sood, Shantanu Acharya, Gaurav Kumar Nayak Published: 2026-05-14 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2607.20457v2 Inference with large language models (LLMs) on long sequences is computationally expensive due to the quadratic complexity of self-attention. Distributed blockwise methods such as Star Attention reduce this cost by sharding context across hosts, but rely on prepending a static, content-blind copy of the first block to every host. We propose Pulsar Attention, which replaces the static anchor with two lightweight, content-aware components: a small attention-sink prefix that stabilizes softmax, and compact cross-block summaries built via a Max-IDF heuristic that selects chunks containing globally rare tokens. This reduces the Phase 1 per-GPU FLOPs by up to 3.3x over Star Attention while retaining an identical KV cache footprint. On RULER with Llama-3.1-8B-Instruct, Pulsar Attention outperforms Star Attention at sequence lengths up to 128K tokens and remains competitive with dense attention across most tasks, with task-dependent absolute gains of up to 4.7% over the dense baseline. --- ### Dropping the Anchor: Statistical Context Summarization for Distributed Systems via Pulsar Attention Authors: Aryan Sood, Shantanu Acharya Published: 2026-05-14 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2607.20457v1 Inference with large language models (LLMs) on long sequences is computationally expensive due to the quadratic complexity of self-attention. Distributed blockwise methods such as Star Attention reduce this cost by sharding context across hosts, but rely on prepending a static, content-blind copy of the first block to every host. We propose Pulsar Attention, which replaces the static anchor with two lightweight, content-aware components: a small attention-sink prefix that stabilizes softmax, and compact cross-block summaries built via a Max-IDF heuristic that selects chunks containing globally rare tokens. This reduces the Phase 1 per-GPU FLOPs by up to 3.3$\times$ over Star Attention while retaining an identical KV cache footprint. On RULER and BABILong with Llama-3.1-8B, Pulsar Attention outperforms both Star Attention and dense attention at sequence lengths up to 128K tokens, with absolute gains of up to 4.7% over the dense baseline. --- ### Learn2Zinc: Fine-tuning Small Language Models for Text-to-Model Translation in MiniZinc Authors: Serdar Kadioglu, Karthik Uppuluri Published: 2026-05-14 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2607.20456v1 Large language models excel at code generation for mainstream programming languages but struggle with rare, domain-specific languages such as MiniZinc, a constraint modeling language for combinatorial problems. We investigate whether targeted fine-tuning can teach small language models (0.6B to 20B parameters) to generate syntactically correct and semantically valid MiniZinc models from natural language problem descriptions. Our key finding is that syntax errors dominate failures when working with this domain specific language: the out-of-the-box execution accuracy of small language models such as Qwen3, LLaMa, Gemma, and GPT-OSS is near-zero. We propose a cross-model error bootstrapping approach that collects syntax errors from multiple LLM runs and leverage those to curate an error correction training dataset. This dataset allows us fine-tune small language models that consistently improves both direct code generation and chain-of-thought approaches across all model sizes. With self-reflection and ensembling, our approach achieves up to 98\% execution accuracy. In parallel, solution accuracy still remains at 35\%, indicating that while syntax is learnable, constraint reasoning remains a challenge. We contribute our fine-tuning pipeline, datasets, and models to opens-source for further research on text-to-model translation. --- ### RE-AD: Real-Time Requirement Adherence for Data Labeling Authors: Siddarth Malreddy, Ishan Nigam, Akshay Arora, Nikhil Mittal, Subrat Sahu Published: 2026-05-14 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2607.20455v1 Human-annotated data remains fundamental to training frontier Large Language Models (LLMs). However, crowd-sourced annotations often suffer from quality issues stemming from annotator misunderstanding or lack of engagement. To address this, we introduce a real-time requirement adherence (RE-AD) framework that leverages LLMs to proactively validate labeling quality. Our methodology involves decomposing Standard Operating Procedures (SOPs) into atomic rules via self-reflection, categorizing them by complexity, and applying tiered validation strategies. Evaluated on a synthetic benchmark, the system achieved an F1 score of 0.749. Furthermore, production deployment resulted in annotators accepting and fixing 82% of the errors flagged by the framework. We include ablation studies to demonstrate the impact of our core design decisions. --- ### Response drift across frontier large language models Authors: Mohammed Aledhari, Ali Aledhari, Fatimah Aledhari, Gowtham Venkat Eathamokkala, Mohamed Rahouti Published: 2026-05-14 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2607.20454v1 All frontier large language models (LLMs) exhibit response drift -- producing outputs that deviate from expert-validated references -- yet the magnitude and structure of this drift remain uncharacterised by systematic human evaluation. Here we report a fully crossed evaluation in which 47 geographically diverse participants each assessed all 62 multidomain questions across ten frontier LLMs under blinded conditions, yielding 29,140 independent assessments. Every model drifts, but drift magnitude varies substantially: eight models converge on a statistically indistinguishable ceiling (78-81% deviation), while two achieve lower deviation (47-49%). Drift profiles differ across six domains and 62 questions, with pairwise correlations among ceiling models exceeding r = 0.85. Automated similarity metrics explain less than 2% of variance in human judgements. These findings reveal that response drift is universal across frontier LLMs, domain- and question-dependent in structure, and accessible only through human-centred evaluation. --- ### A Knowledge-Injection Framework for Zero-Shot Adaptation of LLMs to Delirium Prediction Authors: Jessica Sena, Shesadree Priyadarshani, Miguel Contreras, Bharat Gandhi, Scott Siegel, Subhash Nerella, Parisa Rashidi Published: 2026-05-14 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2607.20453v1 Large language models show promise for clinical prediction, but zero-shot performance on specialized tasks is limited by incomplete domain knowledge, especially for smaller locally deployable models. We present a lightweight knowledge-injection framework for zero-shot ICU delirium prediction that augments a deterministic natural-language summary of structured electronic health record data with an external clinical knowledge report at inference time, without fine-tuning or retrieval. We evaluate LLaMA 3.1 8B and LLaMA 3.3 70B on 3,160 ICU admissions from the MIMIC IV dataset. Adding a clinically meaningful external knowledge report improves AUROC by 8.57 percentage points for the 8B model and 1.99 percentage points for the 70B model compared to no external knowledge. Relative to a GPT-5.2 frontier-model reference without external knowledge report (AUROC 68.86%), knowledge injection reduces the performance gap from 15.66 to 7.09 AUROC points for LLaMA 8B and from 5.30 to 3.31 AUROC points for LLaMA 70B. Random control reports do not improve performance and often degrade it, indicating that gains depend on clinically meaningful content rather than added prompt length alone. SHAP-based attribution further confirms that the injected knowledge is actively used during prediction. These findings suggest that inference-time knowledge injection can narrow the gap between locally deployable open-weight models and frontier closed models while preserving a practical, privacy-preserving workflow for resource-constrained clinical settings. ---