# Research Papers — 2026-06 · bundle page 121 of 260 > Full-text markdown of papers #6001–6050 of 12993 published in 2026-06, newest first. AI-readable mirrors of the full 12993-paper 2026-06 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-06/page/121 [← Previous bundle](https://aipod.dev/papers/archive/2026-06/page/120.md) [Next bundle →](https://aipod.dev/papers/archive/2026-06/page/122.md) ### A Closer Look at Failure Modes in Temporal Understanding of Large Audio-Language Models Authors: Apoorva Kulkarni, Kaousheik Jayakumar, Sreyan Ghosh, Sarah Wiegreffe, Dinesh Manocha, Ramani Duraiswami Published: 2026-06-16 Categories: cs.SD, cs.LG arXiv: https://arxiv.org/abs/2606.17417v1 Large Audio Language Models (LALMs) achieve strong performance on a variety of audio understanding tasks but continue to struggle with temporal reasoning, a fundamental capability central to human auditory perception. Understanding the causes of these failures remains challenging as existing benchmarks report performance gaps without probing underlying mechanisms. To address this, we introduce a benchmark with 1,657 questions across three foundational tasks designed specifically for mechanistic analysis. Examining model outputs across varying input settings (behavioral analysis) reveals that models often under-utilize audio when textual cues are available. We also provide the first causal mechanistic analysis of temporal reasoning failures in LALMs. Comparing attention upweighting against scaling, we find that redistributing attention across audio tokens is more effective than increasing audio attention. Targeting task-relevant tokens yields further gains. These findings suggest that modality imbalance alone cannot explain failures. Attention scaling at bottleneck layers improves accuracy from 55.9% to 59.1% without fine-tuning, demonstrating a promising direction for future work. --- ### L-Proto: Language-Aware Episodic Prototypical Training for Multilingual Speaker Verification Authors: Hyung-Seok Oh, Deok-Hyeon Cho, Seung-Bin Kim, Seong-Whan Lee Published: 2026-06-16 Categories: cs.SD, cs.AI arXiv: https://arxiv.org/abs/2606.17416v2 Multilingual speaker verification remains challenging because language-dependent acoustic variability causes speaker identity to become entangled with linguistic characteristics, degrading generalization across languages. In multilingual training, embeddings often encode language cues with speaker identity, causing speakers to form language-specific clusters. We propose L-Proto, a language-aware episodic prototypical training strategy that constructs language-consistent episodes. By sampling speakers from a single language per episode, L-Proto reduces language-driven variation during training and encourages embeddings to focus more directly on speaker identity. Experiments on the TidyVoice Challenge benchmark demonstrate consistent performance improvements over conventional fine-tuning and random episodic sampling across multiple backbone architectures. --- ### Memory-Efficient Meta-Reinforcement Learning for Adaptive Safety-Critical Control in Adversarial Spacecraft Proximity Operations Authors: Alejandro Posadas-Nava, Richard Linares, Minduli Wijayatunga Published: 2026-06-16 Categories: cs.LG, math.DS arXiv: https://arxiv.org/abs/2606.17414v1 Autonomous spacecraft rendezvous and proximity operations (RPO) require controllers that guarantee safety under thrust constraints while minimizing fuel expenditure. Input-constrained control barrier functions (ICCBFs) provide a control method for nonlinear systems with actuation constraints that construct a forward-invariant safe set. Previous work has shown that learning class-$\mathcal{K}$ functions defining the ICCBF recursion via meta reinforcement learning (meta-RL) yields a robust, non-greedy approach to safety-critical control in RPO. This paper extends that framework further by investigating the performance of three recurrent network architectures (Long Short Term Memory (LSTM), Gated Recurrent Unit (GRU), Selective State Space Model (Mamba)) and two training algorithms (Proximal Policy Optimization (PPO) and Soft Actor Critic (SAC)) to identify the best setup for tuning ICCBF class-K functions via meta-RL. In addition to cooperative test cases, performance is evaluated in the presence of adversarial behavior where the target spacecraft behaves in a way that worsens the safety of the chaser spacecraft. Results indicate that state space models such as Mamba when used with PPO achieve superior task completion, safety, and fuel-savings compared to other architectures, across all cooperative and uncooperative scenarios tested. --- ### Amortized Probabilistic Retrieval of Atmospheric CO2 from OCO-2 Spectra Using Deep Learning with Laplace Approximations and Normalizing Flows Authors: Alejandro Calle-Saldarriaga, Felix Jimenez, Jack Grosskreuz, Jiazheng Wang, Jonathan Hobbs, Matthias Katzfuss Published: 2026-06-16 Categories: cs.LG, stat.AP arXiv: https://arxiv.org/abs/2606.17413v1 Space-based monitoring of atmospheric carbon dioxide (CO2) is essential for constraining the global carbon budget. NASA's Orbiting Carbon Observatory-2 (OCO-2) estimates column-averaged dry-air mole fractions of CO2 (XCO2) using high-resolution spectra. However, current operational retrieval algorithms are computationally expensive and do not properly quantify uncertainties. We present a novel deep learning framework that addresses these challenges. Due to the difficulties of ground-truth data for real satellite observations, we develop and validate our approach using a high-fidelity simulation dataset. This dataset, created to support OCO-2 uncertainty quantification (UQ), incorporates realistic forward model errors. Our architecture encodes spectral bands using a multi-branch neural network and estimates posteriors of the full CO2 column or desired summaries thereof using two scalable UQ methods: Laplace approximations and normalizing flows. Our approach has five key advantages relative to operational "full-physics" solvers: (1) Amortization: Inference is orders of magnitude faster, enabling real-time processing of massive data streams; (2) Model error robustness: By training on simulations that explicitly include model discrepancies, our method accounts for systematic errors often neglected by standard inversions; (3) Point estimate accuracy: We achieve superior predictive accuracy compared to baseline methods; (4) Improved UQ: The probabilistic outputs yield better-calibrated uncertainty estimates; and (5) Non-Gaussian posteriors: When utilizing normalizing flows, our framework successfully models complex, asymmetric posterior distributions, overcoming the limitations of the Gaussian assumption. These results suggest that simulation-based deep learning is a viable path toward next-generation operational processing systems. --- ### Enhancing Pathological VLMs with Cross-scale Reasoning Authors: Chi Phan, Tianyi Zhang, Qiaochu Xue, Yufeng Wu, Dan Hu, Zeyu Liu, Sudong Wang, Yueming Jin Published: 2026-06-16 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.17412v4 Pathological images are inherently multi-scale, requiring pathologists to integrate evidence from global tissue architecture at low magnification to cellular morphology at higher magnification for accurate diagnosis. While existing pathological datasets for vision-language models (VLMs) include various scales, they often lack explicit cross-scale reasoning objectives. This limitation prevents VLMs from capturing essential cross-scale representations and learning evidence-based reasoning. To bridge this gap, we introduce the first cross-scale training and evaluation paradigm that formulates pathology interpretation as multi-magnification reasoning. However, creating such a task reveals a critical challenge: multi-image visual question answering (VQA) is prone to text-only shortcuts, which allow models to guess answers using magnification-dependent artifacts rather than visual evidence. To address this, we propose a leakage-aware curation pipeline that combines adversarial text-only screening with constraint-guided question design. Using this pipeline, we construct Scale-VQA, a high-quality benchmark with 4,685 multiple-choice questions grounded in 2,537 pathology images across multiple magnification levels. Finally, we present ScaleReasoner-R1, a model trained via reinforcement learning to optimize performance on cross-scale VQA tasks. ScaleReasoner-R1 achieves state-of-the-art performance on our cross-scale reasoning benchmark and generalizes to SOTA performance on established single-scale benchmarks. Findings suggest that even the limited cross-scale supervision can significantly improve pathological understanding. Code is available at https://github.com/iMVR-PL/ScaleReasoner-R1. --- ### Attention Alignment Between Humans and Vision-Language Models Authors: Isaac R. Christian, Udith Haputhanthrige, Hanna Hornfeld, Declan Campbell, Samuel Nastase, Taylor Webb, Michael Graziano Published: 2026-06-16 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.17410v1 Visual perception depends on top-down goals and bottom-up sensory mechanisms. Vision-language models implement both, allowing us to treat each component as a separable hypothesis about what drives where we look. We compared spatial attention maps from six vision-language models against human fixation heatmaps recorded on 200 images during two tasks (general description and social captioning). The six models spanned a 2$\times$2 factorial of CNN vs.\ ViT encoders crossed with LSTM vs.\ Transformer decoders, plus Molmo 7B-D and Qwen3.5 9B. We found that both decoder and encoder architecture shaped alignment, but decoder choice dominated. LSTM vs.\ Transformer decoders increased alignment by 40--50 percentage points (80--87\% vs.\ 40--59\% of the human noise ceiling). In contrast, CNN vs.\ ViT encoders contributed a secondary 5--20 point advantage depending on decoder family, with CNN-LSTM the most aligned model overall (85--87\%). Despite their alignment advantage, LSTM-decoder attention maps were spatially diffuse and minimally task-differentiated; ViT-Transformer, the weakest in alignment, showed the sharpest spatial concentration and strongest task differentiation. A hemispatial-neglect simulation confirmed that ablating attention impacted LSTM decoders more than Transformer decoders. In an exploratory extension using TRIBE-simulated synthetic neural responses, fixation alignment and neural relevance dissociate: CNN-Transformer attention maps better predicted synthetic brain activity despite lower fixation alignment, with attention maps best predicting early visual cortex. Together, top-down and bottom-up components trade off what they predict in behavioral and synthetic neural data. --- ### Discrete Autoregressive Transformer for Generative Mechanism Synthesis Authors: Anar Nurizada, Anurag Purwar Published: 2026-06-16 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2606.17409v1 Planar path synthesis requires mechanisms whose coupler curves match a prescribed trajectory; the mapping from curve to linkage is inherently one-to-many across four-, six-, and eight-bar topologies. We address this design problem with simulation-grounded evaluation on a curated corpus of over one million mechanisms, reporting Chamfer distance and dynamic time warping after forward kinematics and geometric alignment. We formulate synthesis as conditional autoregressive sequence modeling: joint coordinates are uniformly quantized to tokens and generated by a decoder-only transformer with a variational-autoencoder (VAE) latent of the target curve and an explicit mechanism-type token. Training combines token cross-entropy with a Gaussian-smoothed bin auxiliary loss that respects ordinal structure among bins. At inference, a bounded latent-noise schedule decodes all mechanism types at each noise level; we retain the top five candidates by geometric error, yielding diverse accurate families without dataset lookup. On held-out tests, aggregate mean Chamfer distance is $0.0132$ and mean dynamic time warping is $0.153$; a latent $k$-nearest-neighbor baseline that conditions on training-set neighbor latents in VAE space achieves matched-topology mean Chamfer distance $0.0071$ and mean dynamic time warping $0.117$ using the same decoder. --- ### Where Should Action Generation Begin? A Learnable Source Prior for Generative Robot Policies Authors: Meipo Dai, Qiyuan Zhuang, He-Yang Xu, Ying-Jie Shuai, Yijun Wang, Qi Dou, Xiu-Shen Wei Published: 2026-06-16 Categories: cs.RO, cs.CV, cs.LG arXiv: https://arxiv.org/abs/2606.17408v1 Generative robot policies typically begin action generation from an observation-independent standard Gaussian distribution, leaving the choice of source distribution underexplored. This work asks a simple question: where should action generation begin? We propose LeaP, a Learnable source Prior that replaces the standard Gaussian with a proprioception-conditioned diagonal Gaussian over action chunks. Parameterized by a lightweight MLP, LeaP jointly predicts the mean and state-adaptive variance of the source distribution, while keeping the downstream generator architecture and inference solver unchanged. This design provides an observation-informed yet stochastic initialization, allowing the generator to focus on precise action refinement rather than transporting samples from an uninformed noise source. On 15 RoboTwin manipulation tasks, LeaP achieves an average success rate of 81.6%, outperforming four representative baselines -- including deterministic-source methods, a no-prior counterpart, and a diffusion-bridge policy -- by 6.5 to 25.5 percentage points. The same prior consistently improves both flow-matching and diffusion-bridge generators, while using fewer parameters and converging faster. The advantage carries over to real-world deployment, where LeaP attains the best performance. These results suggest that the source distribution is an independent and reusable design axis for generative robot policies, complementary to the choice of generative dynamics. --- ### Graph Neural Networks for Semi-Supervised Image Classification with Multi-Feature Aggregation Authors: Marina Chagas Bulach Gapski, Vinicius Atsushi Sato Kawai, Gustavo Rosseto Leticio, Lucas Pascotti Valem, Daniel Carlos Guimarães Pedronette, Mohand Said Allili Published: 2026-06-16 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.17406v1 Feature extraction involves the identification and extraction of salient characteristics or patterns, including edges, textures, shapes, and color attributes. Contemporary feature extractors predominantly leverage deep learning architectures, such as Convolutional Neural Networks (CNNs) and Vision Transformers (VITs). The availability of diverse feature extractors in the literature provides a wide range of feature representations. Features extracted from an image depend on the specific application, the chosen extractor, and its configuration. Therefore, integrating complementary information by combining distinct extractors offers a promising way to enhance performance. Graph Neural Networks (GNNs), particularly Graph Convolutional Networks (GCNs), have emerged as powerful and widely adopted approaches for semi-supervised image classification, as they effectively leverage both labeled and unlabeled data while exploiting the underlying graph structures that capture relationships among samples. This study proposes a novel approach for GNNs in scenarios where labeled data is scarce, by integrating diverse sets of feature and graph representations derived from various extractors in classification scenarios. Experimental investigations were conducted, encompassing combinations of distinct feature and graph extractors, as well as rank aggregation strategies. The primary contributions of this work are underscored by the experimental findings, which demonstrate that the strategic combination of feature and graph representations, coupled with the application of manifold learning for graph processing, leads to significant improvements in classification accuracy across the majority of experimental conditions. Furthermore, the utilization of rank aggregation techniques to integrate features from different extractors was shown to enhance classification accuracy. --- ### Treatment Response Optimized Clinical Decision Support AI System via Digital Twin Simulation Authors: Xinyu Qin, Anil K. Sood, Ruiheng Yu, Sara Corvigno, Elaine Stur, Lu Wang Published: 2026-06-16 Categories: cs.AI arXiv: https://arxiv.org/abs/2606.17405v1 Clinical decision support AI systems (CDSASs) must adapt to evolving patient conditions in real-time while adhering to strict safety constraints. We present an online adaptive framework that integrates Treatment Effect (TE) estimation to quantify clinical benefits, a patient Digital Twin (DT) to simulate treatment trajectories, and Reinforcement Learning (RL) for sequential decision-making. The AI system is initially trained on historical medical records and operates in a continuous learning loop. To ensure safety, a rule-based module monitors vital signs and blocks contraindicated treatments. Cases with strong internal model disagreement are flagged for clinician review, simulated in our experiments via a pre-trained outcome model. We validate our framework using both a synthetic clinical simulator and a real-world ovarian cancer dataset from The Cancer Genome Atlas (TCGA). In both simulated and clinical settings, our method demonstrated superior effectiveness and stability in recommending treatments compared to standard computational baselines. Furthermore, the AI system maintains low latency and requires expert consultation for only a minority of cases in our experimental validation, demonstrating its potential as a safe, clinician-supervised tool for personalized medicine that continuously improves through practical use. --- ### Bridging Spatial And Frequency Views For Disaster Assessment: Benefits And Limitations Authors: Shikha V. Chandel, Yadav Raj Ghimire, Timothy Agboada, Leila Hashemi-Beni Published: 2026-06-16 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.17403v1 Rapid assessment of building damage from satellite imagery is essential for effective disaster response and recovery. While most deep learning methods rely on spatial-domain features, frequency-domain representations can capture complementary structural cues such as debris patterns and collapse-induced textures. This study presents a controlled comparison of spatial-domain, frequency-domain, and dual-domain deep learning approaches for multi-class building damage classification using post-disaster imagery from the xView2 (xBD) dataset. To ensure fairness, all models are built on an EfficientNet-B0 backbone and trained under identical settings, differing only in their input representations and fusion strategies. Performance is evaluated using accuracy, macro F1-score, per-class metrics, and confusion matrices. Results show that dual-domain models provide measurable improvements over single-domain approaches. The dual spatial configuration achieves the highest test accuracy (0.4688) and lowest loss, while the spatial-only model attains the best macro F1-score (0.4254), indicating more balanced class performance. In contrast, frequency-only models perform worst and exhibit overfitting, suggesting limited generalization. Despite these gains, all models struggle to detect subtle damage levels, particularly the Minor class, due to class imbalance and fine-grained visual ambiguity. While dual-domain approaches improve detection of severe damage, challenges remain. These findings highlight the benefits and limitations of hybrid representations and motivate future work on data balancing, advanced fusion, and regularization. --- ### The Discrete-Log Clock: How a Transformer Learns Modular Multiplication Authors: Huu Danh Nguyen Published: 2026-06-16 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2606.17399v1 When small transformers grok modular multiplication, prior work reports that the learned embedding has a "dense" Fourier spectrum requiring all frequencies. This contrasts with modular addition, where only a sparse set of key frequencies suffices. We show this density is an artifact of analyzing in the wrong basis. The natural Fourier transform for multiplication is not the standard additive DFT but the multiplicative character transform, which decomposes functions on the multiplicative group $(\mathbb{Z}/p\mathbb{Z})^*$ into its irreducible representations. Applying this transform to a grokked transformer trained on $a \cdot b \bmod 113$, we find the embedding spectrum becomes highly sparse (Gini coefficient 0.58 vs. 0.07 in the additive basis) with only 4 key frequencies carrying significant energy. Furthermore, 96.9% of MLP neurons are cleanly tuned to a single multiplicative frequency, and neuron activation heatmaps reveal 2D-periodic structure when reordered by the discrete logarithm. These results demonstrate the transformer reduces multiplication to addition in discrete-log space, implementing a "Discrete-Log Clock" algorithm analogous to Nanda et al.'s Clock algorithm for addition. The methodology generalizes: matching the analysis basis to the algebraic structure of the task reveals interpretable structure where standard tools see noise. --- ### SoK: AI-Augmented Binary Reversing Authors: Yujeong Kwon, Yiyue Zhang, Shakhzod Yuldoshkhujaev, Kexin Pei, Dokyung Song, Hyungjoon Koo Published: 2026-06-16 Categories: cs.CR, cs.AI, cs.SE arXiv: https://arxiv.org/abs/2606.17398v1 Binary reversing is fundamental to software understanding, vulnerability discovery, malware investigation, and firmware auditing. However, it remains inherently challenging due to the irreversible loss of semantic information during compilation. Recent advances in machine learning, large language models (LLMs), and agentic AI systems have accelerated the adoption of AI-augmented binary reversing. Yet, the resulting body of work has become increasingly fragmented across reversing domains, artifact representations, learning approaches, and evaluation practices. This paper presents the first comprehensive systematization of knowledge on AI-augmented binary reversing. We analyze 144 research papers published since 2015, and organize them into 22 binary reversing domains according to the inference tasks. We further introduce a unified taxonomy spanning conventional and AI-augmented reversing pipelines. Our taxonomy connects traditional analysis techniques, binary-derived artifacts, representation strategies, learning paradigms, and downstream inference tasks, while clarifying the emerging roles of LLMs and agentic AI systems. By establishing a common vocabulary and structured framework, we provide a holistic view of the field's evolution over the past decade. Our study reveals common structures underlying seemingly disparate approaches, highlights persistent technical challenges and evaluation gaps, and identifies promising opportunities for future research. Collectively, these insights clarify the current state of the field and provide a foundation for the next generation of reliable and scalable AI-augmented binary reversing systems. --- ### Damage Adaptation in Seconds for Architected Materials Authors: James Avtges, Jake Ketchum, Helena Young, Taekyoung Kim, Ryan Truby, Todd Murphey Published: 2026-06-16 Categories: cs.RO, cs.LG arXiv: https://arxiv.org/abs/2606.17394v1 Adaptation to damages and in-situ physical repairs is essential for long-term robot autonomy, yet challenging outside of narrowly defined and well-anticipated bounds. In this work we proprioceptively adapt to catastrophic damage in soft-actuated systems in under one minute. Architected materials are well equipped for adaptation: actuator failure occurs gradually rather than acutely, and damage can be described in a low-dimensional, discrete coordinate space. Surprisingly, latent damage representations plus a simple yet robust ensemble method is sufficient for adapting to unseen damage in real-time. Moreover, we identify conditions under which exponential sample complexity collapses to linear sample complexity for learned representations of architected materials, a concrete advantage over rigid components or continuum soft mechanisms. We demonstrate LEAP, our method for adaptive proprioception, via a tracing task for a 6DoF soft wrist based on Handed Shearing Auxetic (HSA) actuators. Our algorithm is able to adapt to cuts, burns, and actuator repairs, enabling simulation-free real-time adaptation that is critical for realizing the promise of soft robots outside the lab. Videos and more information are available at https://murpheylab.github.io/leap. --- ### NarrativeWorldBench: A Frontier-Saturated Benchmark and a Latent World Model for Long-Horizon Co-Creative Audio Drama Authors: Logan Mann, Abdur Rahman, Mohammad Saifullah, Taaha Kazi, Vasu Sharma Published: 2026-06-16 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2606.17391v1 Long-form serialized audio drama, with arcs that run for 200 to 800 episodes, is a major creative medium and a setting where frontier large language models (LLMs) fail. We benchmark 21 models, spanning classical, fine-tuned, open-frontier, closed-frontier, and reasoning tiers, on a uniform set of structural narrative metrics. All closed-frontier systems saturate at a plot-beat F1 in the band (0.78, 0.81) and collapse by about -0.20 F1 at horizon h=200. We introduce NarrativeWorldBench, an open benchmark of nine narrative-structure metrics evaluated across horizons h in {10, 20, 50, 100, 200}, with cross-lingual evaluation across four Indic languages (Hindi, Tamil, Telugu, Marathi). We introduce N-VSSM, a Narrative Variational State-Space Model that maintains a structured 256-dimensional latent world state over more than 200 episodes via a Mamba-2 backbone with an event-conditioned posterior and an 8B decoder. N-VSSM holds plot-beat F1 >= 0.84 across all horizons at 4x lower compute than the closed-frontier band. A learned Cultural Transfer Function lifts cross-language fidelity by +0.20 to +0.23 Likert points. In a within-subjects writer study (n = 12 professional authors, 240 trials), N-VSSM is preferred over Claude Opus 4.5 on long-arc consistency 71% of the time and rated +1.3 Likert points higher on controllability. --- ### Visuals Lie, Consistency Speaks: Disentangling Spatial Attention from Reliability in Vision-Language Models Authors: Logan Mann, Yi Xia, Ajit Saravanan, Ishan Dave, Saadullah Ismail, Shikhar Shiromani, Emily Huang, Ruizhe Li, Kevin Zhu Published: 2026-06-16 Categories: cs.CV, cs.AI, cs.CL, cs.LG arXiv: https://arxiv.org/abs/2606.17389v1 Multimodal Foundation Models are increasingly used as reasoning agents, making reliability, knowing when a model may hallucinate, critical. A common intuition, which we call the Attention-Confidence Assumption, holds that reliability follows from "structural" visual perception: tight attention on relevant regions should signal a trustworthy answer, while scattered attention signals confusion. We challenge this through the VLM Reliability Probe (VRP), a systematic cross-family study of reliability signals in contemporary Vision-Language Models (VLMs). We introduce structural-attention metrics, cluster counts (C_k) and spatial entropy (H_s), to quantify the visual encoder's gaze, and track its evolution (Delta H_s) across layers. This reveals a "Symbolic Detachment": models often "Early Lock" visual features only to diffuse attention later, severing early perception from final generation. Contrary to the grounding hypothesis, we find a "Cluster Failure": spatial attention has near-zero correlation (R approx 0.001) with accuracy. Instead, reliability is a phenomenon of generation dynamics and internal-state distributions. Self-Consistency, the agreement rate across sampled reasoning paths, is the dominant predictor of truth (R = 0.429). Scaling causal interventions exposes a sharp architectural divergence: LLaVA locks its prediction in a fragile late-stage bottleneck, whereas PaliGemma and Qwen2-VL distribute reliability globally, staying resilient even when ~50% or more of their most predictive layer is destroyed. For current VLMs, reliability signals are detached from visual grounding maps and are best inferred from generation-time dynamics and hidden-state probes. --- ### TerraTransfer: Learning End-to-End Driving Policies Without Expert Demonstrations Authors: Zikang Xiong, Weixin Li, Zhouchonghao Wu, Akshay Rangesh, Saarth Bonde, Grantland Hall, Chen Tang, Yihan Hu, Wei Zhan Published: 2026-06-16 Categories: cs.CV, cs.AI, cs.RO arXiv: https://arxiv.org/abs/2606.17386v2 End-to-end autonomous driving has achieved state-of-the-art performance on benchmarks and real-world deployments. Its standard training recipe, however, is expensive across all stages: collecting and labeling millions of driving frames is costly, and closed-loop RL on images is bottlenecked by the per-step cost of photorealistic rendering plus a forward pass through a large vision backbone. Self-play in vectorized simulators changes the economics: millions of rollout steps per second, and a state distribution naturally rich in collisions, near-misses, and recoveries that no driving log contains. Our approach exploits this asymmetry by decoupling learning to drive from learning to see. We pretrain a single policy by self-play, then align its latent space with a pretrained vision backbone, through the action KL divergence and a batch-relational low-rank structural loss. The action target comes from the self-play policy, so alignment never supervises against a logged trajectory: a paired dataset of (image, scene-state) frames suffices, with no need for the curated expert demonstrations that imitation pretraining is built on. On photorealistic 3D Gaussian splatting closed-loop scenarios, the resulting end-to-end policy matches or exceeds prior end-to-end methods. --- ### Improving and Evaluating Hand-Object Interaction Detection Authors: Ahmad Darkhalil, Dima Damen, David Fouhey Published: 2026-06-16 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.17384v1 Understanding hands and the objects they interact with, both directly and through tools, is a key step for tasks ranging from action perception to 3D reconstruction and robotics. Our paper provides several contributions to the Hand-Object Interaction (HOI) understanding literature: (1) HOI-DETR, a new framework that introduces hand-object and object-object interactions to the Co-DETR architecture to produce a state-of-the-art method; (2) a comprehensive HOI evaluation suite of 4 diverse datasets, including a video benchmark derived from the HD-EPIC dataset and fresh annotations that improve the Hands23 benchmark and (3) a trained checkpoint that significantly improves the state of the art across Hands23, HOIST, FineBio, and HD-EPIC, including mAP gains of over 20 percentage points on Hands23 and FineBio. Our ablations confirm the contributions of each model component. --- ### Model Validation of Agentic AI Systems: A POMDP-Based Framework for Belief-State, Forecast, and Policy Validation Authors: Matthew Francis Dixon Published: 2026-06-16 Categories: q-fin.RM, cs.AI, cs.LG, stat.ML arXiv: https://arxiv.org/abs/2606.17383v1 Agentic artificial intelligence systems introduce a new class of model risk. Unlike traditional predictive models, autonomous agents continuously acquire information, form beliefs regarding latent states of the environment, generate forecasts, select actions, and adapt their behavior over time. Existing validation methodologies focus primarily on predictive accuracy and therefore provide limited insight into the quality of the underlying decision process. This paper proposes a model validation framework for agentic AI based on Partially Observable Markov Decision Processes (POMDPs). The framework decomposes autonomous decision making into information, beliefs, forecasts, actions, and utility, allowing each component to be validated independently. Large language models (LLMs) are formalized as approximate Bayesian filtering operators, and a model-risk taxonomy is developed encompassing state-space, filtering, forecast, policy, utility-specification, and parameter risks. The model risk validation methodology is demonstrated through a portfolio-management case study in which an agent infers latent market regimes from market and macroeconomic information, generates belief-conditioned forecasts, and constructs portfolios using a Black--Litterman framework. Empirical validation combines performance analysis, belief calibration diagnostics, coverage tests, ablation studies, and parameter-sensitivity analysis. The results indicate that latent-state inference contributes independently to decision quality and that the principal conclusions remain robust across a broad range of parameter values. The principal contribution of the paper is a practical framework for extending established model risk management concepts to autonomous AI systems and providing a rigorous foundation for their validation, governance, and monitoring. --- ### MeiBRD: Meta-Learning Intraoperative Biomechanical Residual Deformation Authors: Casey Meisenzahl, Jon Heiselman, Michael Holtz, Yubo Ye, Michael Miga, Linwei Wang Published: 2026-06-16 Categories: cs.CV, cs.AI, eess.IV arXiv: https://arxiv.org/abs/2606.17379v1 Accurate intraoperative liver registration is challenging due to substantial soft-tissue deformation yet sparse intraoperative measurements. Biomechanical models regularize this ill-posedness with prior knowledge but exhibit persistent prediction bias due to simplifying assumptions, while data-driven learning solutions struggle with data efficiency, generalization, and physical plausibility. We propose a hybrid registration framework that adapts a biomechanical prior using sparse intraoperative correspondences. Rather than learning a full deformation field, we learn a residual deformation function that corrects linear biomechanical predictions, modeled as a graph neural diffusion function with geometry-aware attention over the 3D liver mesh. To enable long-range information transfer of sparse observations, we take a novel perspective of sparse intraoperative measurements as \textit{context} samples where input-output pairs of the residual deformation function are fully observed, casting the problem into learning-to-learn this residual function from intraoperative context samples with feedforward meta-learners. Experiments on a deformable liver phantom dataset demonstrate improved registration accuracy and generalization compared to rigid, biomechanical, and data-driven baselines, particularly for out-of-distribution geometries and deformations. --- ### Performance-Driven Environment Abstraction with Multi-Timescale Learning Authors: Yue Guan, Dipankar Maity, Panagiotis Tsiotras Published: 2026-06-16 Categories: cs.LG, eess.SY arXiv: https://arxiv.org/abs/2606.17377v1 We study performance-driven environment abstraction for decision-making in large Markov decision processes. Rather than preserving geometric or topological structure, we seek abstractions that directly optimize decision quality. We model abstraction as a controlled approximation obtained by aggregating the state space and enforcing a shared action distribution within each aggregated state. For a fixed partition, we establish a performance guarantee that separates value-function approximation error from the loss introduced by action sharing. Guided by this analysis, we develop a multi-timescale reinforcement learning framework that jointly adapts the policy and a tree-structured environment abstraction. The resulting algorithm refines and coarsens regions of the state space based on Q-value discrepancies, balancing performance against abstraction size and complexity. Empirical results demonstrate substantial state compression, improved sample efficiency, and faster replanning compared to actor-critic baselines. --- ### Contactless Respiratory Monitoring on Heterogeneous Mobile Robots: A Multimodal Edge-Computing Framework Authors: Milind Rampure, Shadman Sakib, Haley Patel, Zahid Hasan, Nirmalya Roy Published: 2026-06-16 Categories: cs.RO, cs.CV arXiv: https://arxiv.org/abs/2606.17376v1 Respiratory-rate (RR) monitoring is a critical component of remote triage and victim assessment in emergency response, disaster recovery, and infectious-disease scenarios, where minimizing physical contact can reduce responder risk and improve operational safety. However, field deployment of contactless RR monitoring remains challenging due to variable illumination, posture changes, platform heterogeneity, and the impracticality of wearable sensors in hazardous environments. In this paper, we present a modality-adaptive contactless RR monitoring framework for heterogeneous mobile robots with onboard edge computing. The proposed system combines brightness-adaptive sensor selection across RGB, thermal, near-infrared (NIR), and low-light cameras, keypoint-guided chest ROI extraction for posture-robust monitoring, and a signal-quality-index (SQI)-based filtering mechanism for reliable respiratory estimation. We implement and evaluate the framework on three robotic platforms spanning quadruped and wheeled locomotion and multiple edge-computing architectures. Experiments conducted across diverse lighting conditions, subject poses, and robot-to-subject distances demonstrate that the framework generalizes across platforms without per-platform algorithmic retuning, while revealing modality-specific operational boundaries. RGB provides the broadest coverage up to 8m, NIR remains effective up to 6m, thermal is reliable only at short range, and low-light sensing supports monitoring in complete darkness up to 8m. Overall, the results demonstrate the feasibility of multimodal contactless RR monitoring on mobile robots and support its use as a foundation for autonomous triage and victim assessment in hazardous search-and-rescue settings. --- ### Implicit vs. Explicit Prompting Strategies for LVLMs in Referential Communication Authors: Peter Zeng, Amie J. Paige, Weiling Li, Susan E. Brennan, Owen Rambow, Cameron R. Jones Published: 2026-06-16 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2606.17372v2 Two recent studies (Jones et al. (2026); Zeng et al. (2026)) reach apparently contradictory conclusions about whether LVLMs can coordinate on efficient referring expressions. We control for task differences between the studies while directly comparing their prompting styles. We replicate the finding that models can coordinate efficient referring expressions when explicitly prompted to do so, suggesting that other task differences are not responsible for divergent results. However, we also find that the same models fail to infer the need for communicative efficiency from a more implicit prompt, highlighting critical differences between how humans and AI systems communicate. --- ### Steering topology distributions for unified generative design of architected metamaterials Authors: Haolin Li, Yuyang Miao, Menglei Li, Jinshuai Bai, Liyuan Wang, Xin Liu, Bo Gao, Jiantao Liu, Danilo Mandic, Zahra Sharif Khodaei, M. H. Aliabadi, Weiqiu Chen Published: 2026-06-15 Categories: cs.AI, cond-mat.mtrl-sci, cs.LG arXiv: https://arxiv.org/abs/2607.24777v1 Architected metamaterials derive their functions from structure, creating vast opportunities to program physical responses through topology design. However, existing design methods are often tailored to individual design problems, making limited use of topology knowledge for effective and broadly applicable design as objectives, constraints, and physical functions change. Here we introduce Generative Topology Optimization (GenTO), a unified framework that turns a learned topology prior into a reusable design engine. GenTO trains a diffusion model on a large full-order topology dataset and then iteratively steers the resulting topology distribution toward task-specific high-performing regions using user-defined physical objectives and constraints. This shifts the object of optimization from a single structure to a task-adapted topology distribution. Across topology design problems spanning thermal extremization, multi-objective morphology control, property-targeted auxetic design, and vibration transmission design, GenTO reuses pretrained topology priors for heterogeneous tasks, preserves structural diversity, and reaches high-performing solutions supported by numerical benchmarks and experimental validation. These results establish reusable topology knowledge as a unified principle for effective and scalable architected metamaterial design. --- ### JKO-RAG: Distributional Retrieval as Wasserstein Free-Energy Gradient Flow Authors: Levi Segal, Murari Ambati Published: 2026-06-15 Categories: cs.IR, cs.LG arXiv: https://arxiv.org/abs/2607.24776v1 RAG pipelines return a \emph{ranked list} of passages. We argue this is a mismatch: the downstream language model conditions on a \emph{set}, and the selection problem is fundamentally geometric. We propose \jko, which frames reranking as minimising a free-energy functional $F(p)=\text{relevance}+\text{entropy}+\text{redundancy}$ under Wasserstein-2 gradient flow via the Jordan--Kinderlehrer--Otto proximal scheme. The ground metric $C_{ij}=(1-\cos\langle z_i,z_j\rangle)^2$ encodes the semantic geometry of the embedding manifold. Our central contribution is a \emph{linear-response theory} explaining \emph{why} the Wasserstein geometry helps: the Wasserstein and KL retrieval maps differ only in their proximal Hessian -- dense and geometry-aware for $W^2$, diagonal and geometry-blind for KL -- and this difference damps the mass transport that query paraphrase induces. The theory yields a falsifiable prediction: the stability advantage is monotonically decreasing in step size $h$. We verify this empirically via free-energy descent, frequency-resolved perturbation response, the predicted $h$-dependence, and a certified-radius analysis. Four extensions are introduced: \textbf{\nmjko} (learned ground metric), \textbf{\bwjko} ($W^2$--KL interpolation), \textbf{\samjko} ($2\times$ speedup), and \textbf{\dualrank} (OT dual potentials as confidence signals). Across five BEIR benchmarks, \jko\ outperforms the cross-encoder on all five; the decisive advantage is robustness -- 22--38\% more stable under paraphrase, $2\times$ fewer leaked distractors. --- ### Masked Autoencoders Learn Perception-Relevant Representations from Resting State Neural Data Authors: Aleksandr Kovalev, Antonio Lozano, Fabrizio Grani, Cristina Soto Sanchez, Leili Soo, Rocío López-Peco, Adrian Villamarin-Ortiz, Roberto Morollón Ruiz, María del Mar Ayuso Arroyave, Alfonso Rodil, Eduardo Fernández Published: 2026-06-15 Categories: q-bio.NC, cs.AI, cs.LG, cs.NE arXiv: https://arxiv.org/abs/2607.22615v1 Clinical neuroprosthetics face a data bottleneck: labeled perception trials are scarce while hours of spontaneous neural activity are largely underutilized. Here, we test whether self-supervised learning can use these unlabeled datasets to improve perception decoding. We pretrained a masked autoencoder on 14.6 hours of spontaneous multiunit activity from an intracortical array in a blind participant's V1. The model captured interpretable brain structure without supervision: V1's spatial organization and perceptual state separation both emerged purely from its latent representations. To test these features, we used linear probing (logistic regression on the frozen latents) to measure performance on the data with stimulation. Perception decoding accuracy reached 84.1% on a general psychometric task. On the more difficult threshold-level task, accuracy reached 64.0%. This work shows that spontaneous cortical activity is not noise; it contains rich, task-relevant structure. Unsupervised pretraining on this data is a promising strategy to improve neural decoding. --- ### DynaResize: Runtime GPU Reallocation for Disaggregated LLM Post-Training Authors: Hanlin Du, Zhiyuan Yan, Yungang Bao, Sa wang Published: 2026-06-15 Categories: cs.AI arXiv: https://arxiv.org/abs/2607.22614v2 RL-based LLM post-training increasingly disaggregates Rollout and Training across separate GPU resources, but static GPU partitioning suffers from severe pipeline bubbles under long-tail rollout latency. We present DynaResize, a runtime GPU reallocation system that dynamically switches GPUs between Rollout and Training to balance stage execution times without changing RL semantics. DynaResize decomposes resizing into fine-grained operations and removes non-startup-critical work from the critical path through communicator reuse, bounded state staging, and hysteresis-based resizing. Experimental results show that DynaResize can improve end-to-end throughput by 66.5% and reduce total execution time by 33% over the optimal static configuration, while hiding 27% of role-switching overhead. --- ### Revitalizing Public Urban Places through Cultural and Political Memory: A Technological Approach with LLMs and Augmented Reality Authors: Lara Vartziotis, Tina Vartziotis, Valentin Keckeisen, Frank Beutenmueller, Martin Obstbaum, Sotirios Kotsopoulos, Kostas Moraitis Published: 2026-06-15 Categories: cs.CY, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2607.22613v1 This paper explores the intersection of memory, place, and identity, examining how new technologies, particularly Apple Vision Pro, can illuminate this nexus. Leveraging digital twins and virtual reality, it investigates how memory is woven into landscapes and urban environments of cultural and historical significance, identifying visual elements that evoke memory and heritage. Applications such as Apple Vision Pro can facilitate image extension to define place identity, informing viewers about cultural and political entities across timelines. Visual storytelling can showcase the evolution of landscapes and the preservation of cultural heritage, while Virtual Reality (VR) enables the recreation of historical landscapes and urban-scapes. This immersive approach invites users to transcend temporal boundaries and experience the past dynamically. Semantic Image Search can support research by uncovering images related to monuments, tradition, or cultural identity. This research introduces a methodology to connect digital twins and virtual environments with urban and non-urban landscapes to illustrate cultural, historical, and environmental sustainability. Central to this approach is defining the resilience of the current state, its future evolution, and the significance of the past. These technologies facilitate a historical and cultural embrace while evoking the feeling of returning to a specific place years later. The methodology outlines the integration of technologies needed to revitalize public urban places through cultural and political memory. Through these applications, this paper contributes to research on digital twins of spaces, urban transformation, and cultural heritage preservation. By offering insights into the relationship between memory, place, and identity in the digital age, it supports a deeper understanding of our collective past and its impact on the present. --- ### Quotient Tree Arithmetic: Deferred-Division Computation with Bounded Symbolic Depth and Cross-Subtree Cancellation Authors: Gregory Magarshak Published: 2026-06-15 Categories: cs.SC, cs.AI, cs.LG, cs.MS arXiv: https://arxiv.org/abs/2607.22612v1 We introduce Quotient Tree Arithmetic (QTA), a computational substrate in which values are represented as deferred quotient pairs (N, D) whose ratio is evaluated lazily at a designated materialization boundary. The framework applies to any domain: IEEE 754 doubles used as exact integer containers give exact rational arithmetic within the 2^53 exactness window; arbitrary IEEE doubles extend coverage to transcendental values including machine learning activations such as exp(x) and sqrt(x). Three structural theorems underpin QTA. (1) Bounded Depth Growth: each arithmetic operation increases tree depth by at most 1, giving O(m) tree size after m operations with no combinatorial explosion. (2) Cross-Subtree Cancellation: subtrees appearing in both numerator and denominator positions cancel via reference identity without arithmetic, including transcendental values computed once and shared. (3) Deferred Stability: a single IEEE division at the materialization boundary introduces at most one-half ULP of rounding error, versus O(m) ULP for eager evaluation. For machine learning training, QTA provides: structural prevention of gradient underflow to zero; O(1)-cost gradient computation via chain-rule tape collapse when intermediate activations are reference-identical; shared-weight batch compression reducing DAG storage from O(BLd) to O(L+Bd) for a batch of B examples through L layers; and tracked factor cancellation replacing O(log n) GCD with O(1) trial division when denominators are known. We propose a vectorized hardware normalization instruction (RatCleanup) for SIMD-parallel rational pair reduction. The algebraic foundation is the localization of a ring at its multiplicative set, connecting QTA to algebraic structure theory while grounding it in hardware-native IEEE arithmetic. --- ### From Errors to Rules: Iterative Prompt Optimization for Text Classification Authors: Yueying Cui, Renhao Xue, Yi Zhang, Mukul Prasad Published: 2026-06-15 Categories: cs.AI arXiv: https://arxiv.org/abs/2607.20497v1 Prompt optimization for text classification spans diverse approaches, from demonstration selection to exploration-based search to error-driven diagnosis, each with known but incompletely characterized strengths and limitations. We conduct a comprehensive empirical study across diverse classification benchmarks (2 to 150 classes) comparing these paradigms through both quantitative evaluation and qualitative analysis of optimization traces, revealing that each paradigm excels on structurally different task types and that no single method dominates. Guided by these insights, we propose Error-Guided Optimization (ERGO), an error-driven method that iterates over the full training set in non-overlapping batches, diagnoses classification failures, and generates targeted decision rules through a diagnose-prescribe-rewrite feedback loop. ERGO achieves the best accuracy on tasks where errors concentrate in specific confused label pairs (which we term boundary-learnable tasks): TREC: 90.0%, CLINC150: 94.4%, converges in 3-5 iterations, and produces interpretable decision rules. While ERGO does not achieve the highest overall average, it fills a complementary role: demonstration-based ICL wins on coverage-dependent tasks, exploration-based search wins on many-class intent, and ERGO wins where decision boundaries are learnable from error patterns. We provide a complementarity framework linking task characteristics to optimal paradigm selection, offering practical guidance for practitioners. --- ### Mitigating Scaffolding Collapse in Socratic Tutors via Representation Alignment Authors: Jing Shao, Qifeng Wu, Hanyu Zhang, Sixia Sun, Jun Zhuang Published: 2026-06-15 Categories: cs.AI, cs.CL, cs.LG arXiv: https://arxiv.org/abs/2607.19371v1 Large language model (LLM)-based Socratic tutors increasingly guide students through multi-turn questioning, but they can suffer from scaffolding collapse: under sustained student pressure, a tutor gradually abandons guided inquiry and reveals solutions directly. Prior defenses primarily constrain observable responses through prompting, preference optimization, or filtering, leaving the internal representation drift that precedes trajectory-level collapse largely unaddressed. We propose Scaffold-Preserving Representation Alignment, a two-stage framework that first warms up a Socratic tutor with supervised fine-tuning, then combines trajectory-weighted direct preference optimization with a margin-preserving representation loss anchored to frozen reference states. Our method is designed to maintain separation between scaffold-preserving and collapse-inducing hidden states across dialogue turns. We evaluate our method across five STEM disciplines and five red-teaming attack strategies. On Qwen3-8B, our method lowers Collapse Rate to 32%, delays average collapse onset beyond nine turns, and keeps over-refusal low, suggesting that representation-level alignment can improve the robustness of long-horizon Socratic tutoring under our red-teaming protocol. --- ### Domain Design for the Cops and Robbers Problem Authors: Connor Little, Meagan Mann, Erin Meger, Christian Muise Published: 2026-06-15 Categories: cs.GT, cs.AI arXiv: https://arxiv.org/abs/2607.18274v1 Cops and Robbers is a well-studied problem in graph theory. The setting consists of a robber and one or more cops placed on an undirected graph. Taking turns moving throughout the graph, the cops try to capture the robber. The property of interest is whether $k$ cops suffice to ensure at least one cop occupies the same vertex as the robber, after a finite number of turns, given any configuration of their initial placement; if successful, the graph is referred to as ``$k$-copwin''. In this work, we cast the problem of determining whether a graph is $k$-copwin as a non-deterministic planning problem and use state-of-the-art planners to compute this property. The cop movement is cast as non-deterministic movement (to capture all possible strategies), while the robber movement is deterministic in nature. We also extend the base model using several variations from the graph theory literature. --- ### Federated Explainable Artificial Intelligence: Roles, Architectures, Evaluation, and Open Challenges Authors: Masoume Gholizade, Fabrizio Ruffini, Pietro Ducange, Francesco Marcelloni Published: 2026-06-15 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2607.13045v1 Federated Learning (FL) has emerged as a key paradigm for privacy-preserving collaborative model training across distributed and heterogeneous data sources. By keeping raw data local, FL addresses data confidentiality concerns, yet it does not resolve the opacity of modern machine learning models. In parallel, Explainable Artificial Intelligence (XAI) has gained attention for improving transparency, trust, and accountability, particularly in high-stakes domains. Their intersection has given rise to Federated Explainable Artificial Intelligence (FedXAI) paradigm, which aims to jointly satisfy privacy and explainability requirements. This survey provides a systematic review of FedXAI, highlighting the transition of explainability from a post-hoc tool to an integral component of the FL lifecycle. We show how explainability supports aggregation, personalization, robustness, coordination, and system-level decision making. To organize the literature, we introduce a taxonomy that classifies FedXAI methods by the role of explainability, model and explainer types, explanation scope, integration level, FL settings, and data heterogeneity. We review approaches ranging from model-agnostic explanations to interpretable federated models and explainability-aware aggregation mechanisms. We also examine evaluation practices and discuss the lack of standardized benchmarks and metrics for measuring explanation quality, stability, privacy leakage, and computational overhead. Finally, we identify key challenges, including explainability under non-IID data, explanation-centric security threats, communication-efficient XAI, continual FedXAI, and the integration of domain knowledge and regulatory constraints. By consolidating existing work and identifying key gaps, this survey serves as a reference framework for designing trustworthy, transparent, and privacy-preserving federated AI systems. --- ### The Perplexity Trap: When Patent Law Makes Human Writing Look Like AI Authors: Anubhab Banerjee Published: 2026-06-15 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2607.13044v1 The European Patent Office (EPO) reported record filings in 2025, and the 2026 EPO Guidelines hold applicants strictly responsible for LLM-assisted content under Article 83 and Rule 42, creating pressure to triage suspected AI-generated patent text. Two constraints make this hard. First, realistic prosecution settings often have only consumer GPUs with about 8 GB VRAM, not datacenter-class scoring stacks. Second, Article 84 of the European Patent Convention requires claims to be clear and concise, pushing human drafting onto the same low-perplexity, low-burstiness manifold that LLMs occupy. We benchmark three open-source zero-shot detectors on 500 granted EPO H04 telecom patents versus 500 LLM-generated counterparts using five prompting strategies, all under the consumer hardware envelope. At claim level, all detectors exceed 60 percent false-positive rate: Binoculars 78.3 percent, Fast-DetectGPT 61.3 percent, DetectGPT 80.5 percent. The failure persists under Qwen2.5-3B-Instruct regeneration, LoRA-adapted Pythia-2.8B scoring heads, cross-IPC replication on A61K, C07D, and F03D (mean FPR 84.6 percent), and H100 re-evaluation with published Falcon-7B and GPT-J-6B heads, arguing the issue is structural rather than substitute-model capacity. A seven-feature linguistic-complexity logistic regression reaches 74.0 percent accuracy at 28.1 percent FPR, a 13 percentage-point gain over a perplexity-only baseline at a comparable operating point, without using likelihood at inference and within the same hardware budget. --- ### Transfer Learning Across Policy Regimes in Adaptive Multi-Agent Systems Authors: Roberto Garrone Published: 2026-06-15 Categories: cs.MA, cs.AI, cs.CY, cs.LG arXiv: https://arxiv.org/abs/2607.09685v1 Policy models often assume that the relationship between a policy instrument and its outcome remains stable across institutional conditions. In adaptive socio-technical systems this assumption may fail: regulatory change can alter incentives, agents can respond strategically, and the mapping from policy variables to aggregate outcomes can change. This paper studies such regime change as a transfer-learning problem in adaptive multi-agent systems. A policy regime is represented as a learning problem induced by an observable input distribution and a target function mapping policy variables to outcomes. We compare a blank-slate learner that searches a flexible hypothesis class in the new regime with a transfer learner whose effective hypothesis class is restricted by structural knowledge from the previous regime. Transfer is beneficial when this restriction preserves the new target function while reducing effective complexity; it is harmful when the restriction excludes the new target and creates misspecification. A stylized emissions-regulation experimental environment and a dynamic ABM robustness experiment support the claim. When the target regime preserves an affine monotone tax-emissions relation, transfer improves empirical small-sample performance. When the target regime introduces a threshold break, the same transferred structure produces negative transfer: held-out error remains high, online prediction generates more mistakes, and repeated online streams show larger cumulative and final-window error under misspecification. The contribution is methodological: previous regulatory experience should be reused when it captures stable structural invariants, but treated cautiously when policy change alters the policy-outcome relationship. --- ### SciML in the Wild: A Diagnostic Study of When Structural Priors Help and When They Hurt Authors: Vrishank Sai Anand, Prathamesh Dinesh Joshi, Raj Abhijit Dandekar, Rajat Dandekar, Sreedath Panat Published: 2026-06-15 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2607.09684v1 Scientific Machine Learning (SciML) methods such as Neural Ordinary Differential Equations (NODEs), Physics-Informed Neural Networks (PINNs), and Universal Differential Equations (UDEs) are most effective when structural priors reflect reliable governing dynamics. We ask what happens when this assumption is violated. Using macroeconomic forecasting as a stress-test domain, we evaluate five model families, ARIMA, LSTM, NODE, PINN, and UDE, across 23 countries using sparse annual data, multiple temporal splits, and five random seeds. Our results show that none of the evaluated models achieve consistently strong forecasting performance, highlighting the difficulty of low-frequency macroeconomic prediction. However, a clear relative hierarchy emerges: less-constrained models, particularly ARIMA and NODE, consistently outperform more-constrained heuristic-prior models such as PINN and UDE. Rather than treating this as a rejection of SciML, we interpret it as a diagnostic result: structural priors can act as misregularizers when they do not match the data-generating process. We identify failure modes including prior misalignment, regime shifts, structural breaks, and optimization instability, and argue that SciML practitioners should test whether structure helps before assuming that more structure is beneficial. --- ### Towards a Pseudo-Labeling Workflow for Celltype-Classification from Explanted Brain Slice Recordings Authors: Cora Jostock, Jonas Ort, Henner Koch, Gregor Schiele, Andreas Erbslöh Published: 2026-06-15 Categories: q-bio.QM, cs.LG arXiv: https://arxiv.org/abs/2607.06569v1 This paper proposes an unsupervised workflow to pseudo-label extracellular spikes from human brain slice MEA recordings into two putative cell types: pyramidal cells and interneurons. Here, the raw data from the data acquisition system is used and processed. The pipeline for pre-processing includes bandpass filtering, threshold--based spike detection, frame alignment and normalization. In the ML workflow, dimensionality reduction (PCA, t-SNE, UMAP), clustering (GMM, k-means). To achieve an online system, template matching and OSort under varying curation strictness is also considered. All pipelines are evaluated by different cluster quality with within-cluster Pearson correlation, Silhouette score, and Calinski-Harabasz index. Applying stricter curation improves separation at some cost to inclusivity. --- ### Qualified Educational Capacity Planning under Heterogeneous Student Support Needs: A Synthetic Benchmark and Decision-Support Framework Authors: Carlos Eduardo Sanoja, Oscar Enrique Moreno Mayz Published: 2026-06-15 Categories: cs.CY, cs.AI arXiv: https://arxiv.org/abs/2606.30650v1 Educational support services often face a qualified-capacity problem: staff time is scarce, qualifications decay, new support needs can appear before anyone is prepared for them, and training consumes the same hours needed by current students. We introduce a synthetic benchmark and decision-support framework for qualified educational capacity planning. The model is a stylized single-institution service system with heterogeneous support-demand categories, backlog-only dynamics, continuous preparation states with hard threshold qualification and decay, and capacity-consuming training. The benchmark includes seed-controlled scenarios for announced and surprise new support categories, staff absences, and demand surges; exact feasibility discipline; declared per-policy information sets; requalification and greenfield-qualification counters; access-dispersion metrics; replay checksums; and paired statistics. We compare service-only, reactive, static-insurance, water-filling, and rolling-horizon mixed-integer controllers, with an attribution chain separating service planning, qualification maintenance, and acquisition, plus a perfect-foresight reference. The central result is a regime map governed by whether a newly required qualification can be acquired within the controller's reaction reach. When it can, the closed-loop controller wins across the core and adversarial suites, with value concentrated in just-in-time qualification acquisition. When the training lag exceeds the horizon, lean static insurance wins structurally, and a reactive trainer that starts after onset can be worse than no training. Backlog perishability shifts this boundary without erasing either regime. EduCapacity Studio reproduces exported scenarios bit-for-bit. All evidence is stylized and synthetic; the framework makes no claims about real student outcomes, compliance, or individual placements. --- ### Conversational Query Engine for Mixed-Modality Heterogeneous Enterprise Data Sources Authors: Darshita Rathore, Vineet Kumar, Vaibhav Singal, Ankur Vivek Singh, Anindya Moitra Published: 2026-06-15 Categories: cs.IR, cs.AI arXiv: https://arxiv.org/abs/2606.28370v1 Enterprise business intelligence queries span structured warehouses and unstructured document repositories -- modalities with fundamentally different access methods, cost profiles, and correctness semantics. Existing AI-enabled interfaces force users to select the right tool: NL2SQL systems cannot reason over slide decks, and RAG pipelines lack access to live warehouse tables. We present COGNI, a production conversational BI system that treats natural-language analytics as a heterogeneous query processing problem, organized as four architectural layers. First, an indexing layer implements slide-adaptive chunking -- recursive chunking for plain-text slides, hierarchical chunking for structured content such as tables, charts, and key-value blocks - achieving $88.3\%$ on our internal enterprise benchmark. Second, a routing layer built on a LoRA fine-tuned Qwen-2.5-1.5B-Instruct model that produces a dual output - modality decision and complexity assessment at $93.8\%$ accuracy and approximately $7\times$ lower cost than frontier-model. Third, a retrieval layer executes complexity-adaptive pipelines: a self-correcting NL2SQL agent at $93.9\%$ G-Eval, and Recursive Language Models reaching $91.0\%$ on multi-hop synthesis queries. Finally, a caching layer validates query equivalence across multiple dimensions beyond embedding similarity, achieving zero false cache hits and $8.4\times$ latency reduction. --- ### Multimodal and Multiscale Spatial-Temporal Semantic Search and Recommendation with AI Foundation Models Authors: Yuanyuan Tian, Wenwen Li, Xiao Chen, Michael Brook, Michael Brubaker, Anna Liljedahl, Chitta Baral Published: 2026-06-15 Categories: cs.IR, cs.AI arXiv: https://arxiv.org/abs/2606.28369v2 Semantic search and recommendation of similar documents, such as news and reports about unusual environmental events (e.g., a dead whale washed ashore in Alaska) that contain spatial and temporal information, is a critical task in Geographic Information Retrieval (GIR). This work presents a novel framework that leverages AI foundation models, including Large Language Models (LLMs) and Vision-Language Models (VLMs), to enable effective similarity search and ranking for such event documents. To support this goal, we introduce two new strategies: (1) CAMERA (Context-Aware Multimodal Event Retrieval Algorithm), which fuses textual and visual information to generate richer embeddings than those derived from text alone; and (2) ASTRA (Adaptive Spatial and Temporal Re-ranking Algorithm), which improves similarity ranking by incorporating scale-dependent spatiotemporal relevance alongside semantic similarity. Experimental results, using a dataset from the Local Environmental Observer Network, demonstrate that our VLM-enhanced methods outperform unimodal, LLM-based approaches in similarity ranking effectiveness. By automatically linking relevant event reports, the proposed framework helps both data curators and the general public gain deeper insights into environmental change and its localized impacts. These findings highlight the potential of AI foundation models to advance GIR through multifaceted, intelligent analysis that integrates key geographic concepts: space, time, scale, and semantics. --- ### Agentic Publication Protocol: An Attempt to Modernize Scientific Publication Authors: Sirui Lu, Xiao-Liang Qi Published: 2026-06-15 Categories: cs.DL, cs.AI arXiv: https://arxiv.org/abs/2606.27386v1 Scientific publication is still organized primarily around static manuscripts, even though much of scientific progress depends on tacit know-how: how to run code, reproduce figures, interpret edge cases, choose useful follow-up directions, and avoid failed paths. Large language model agents create an opportunity to publish not only knowledge, but also operational know-how in a form that future readers and researchers can directly use. This paper outlines the Agentic Publication Protocol (APP), a lightweight repository format for packaging a paper together with code, data, environment information, reproducibility instructions, and an agent-facing instruction file. APP treats a version-controlled repository as the publication object and uses \texttt{AGENTS.md} and optional skills to define a paper agent that can explain the work, reproduce key results when possible, and support follow-up research. We describe the design principles and details of the protocol, as well as the agent skills useful for publishing papers under the protocol. We also describe development tools for evaluating and improving the protocol and associated agent skills. Finally, we provide a broader discussion of the future of scientific research in the agent era. --- ### Thinking Like a Scientist? A Structural Study of LLM-Generated Research Methods Authors: Francesca Carlon, Brecht Verbeken, Vincent Ginis, Andres Algaba Published: 2026-06-15 Categories: cs.CL, cs.AI, cs.DL arXiv: https://arxiv.org/abs/2606.26130v1 Large Language Models (LLMs) are increasingly used to guide research methodology, yet their default methodological tendencies under minimal prompting remain unclear. Here, we prompt GPT-5.1, Gemini 3 Pro, and DeepSeek-V3.2 with an LLM-extracted research question from each of 1,000 recent arXiv computer-science papers and compare the resulting methodology suggestions against a paper-derived experimental inventory. Since we provide only the research question, the differences we measure reflect initial suggestions and not how optimal those suggestions are. We extract structured method features from both sources, map them into a shared taxonomy, and quantify divergence across multiple taxonomy dimensions including model provider, dataset task type, and evaluation metric type. The strongest imbalance appears in provider choice, with Jensen-Shannon divergence about 3-5x larger than any other taxonomy dimension. Other/Academic single-occurrence models are underrepresented by 23-24 percentage points, while reused academic/community models are slightly overrepresented (4-6pp). LLMs also suggest a much narrower range of methods overall: the effective number of model entities contracts from 1,232 to 59-96, and inter-LLM rank correlations (0.55-0.68) generally exceed LLM-to-paper correlations (0.33-0.56), so the distortions are largely shared across models. Popularity baselines, BM25 retrieval calibration, and paper-level similarity tests confirm that the outputs are query-specific responses, but filtered through a narrower set of options. Researchers who rely on LLM suggestions without cross-checking therefore risk narrowing their methodological search space toward a more concentrated default. --- ### Toward Self-Evolution-Ready Workflow Harnesses: A Reversible Migration Path and Convertibility Taxonomy for Expert LLM Pipelines Authors: Yimo Lin, Zhen Zhang, Yibin Li Published: 2026-06-15 Categories: cs.SE, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2606.24598v1 While expert-validated "LLM + script" workflows deliver significant value, they remain static: they encode hard-won domain knowledge yet fail to adapt execution based on feedback. Existing agent research predominantly targets greenfield agents and synthetic benchmarks, leaving the migration of active legacy workflows unresolved. To bridge this gap, we present a reversible, Strangler-Fig migration path that refactors legacy workflows into composable, typed, and auditable stages. Central to this framework is a three-tier convertibility taxonomy (A/B/C), implemented as a routing stage within the system harness, which diagnoses a workflow's readiness and routes it accordingly. --- ### WiFi-Based People Counting Using Beam-Steerable Antennas: A Test-bed Study Authors: Riccardo Bersan, Anay Ajit Deshpande, Sanaz Kianoush, Daniele Piazza, Stefano Savazzi Published: 2026-06-15 Categories: eess.SP, cs.LG arXiv: https://arxiv.org/abs/2606.23710v1 Ubiquitous perception through RF signals is a pivotal opportunity for future technology: it enables personalized services such as smart living, remote healthcare, automated logistics or interaction through free-space gestures. The ubiquity of Wi-Fi and cellular networks presents a promising platform for the development of innovative sensing tools. Future standards will also introduce dedicated sensing features which, for example, will allow routers to work as frequency modulated continuous wave radios targeting radar applications. Most of the current chip designs support ad-hoc firmware for CSI extraction with MIMO arrangements of the transmitter (TX) and receiver (RX) antennas and OFDM subcarriers. The CSI describes the phase shift and amplitude attenuation of multiple propagation paths on each subcarrier. The latest IEEE 802.11be standard (Wi-Fi 7) offers a wider subcarrier bandwidth of 160MHz (up to 320MHz), providing at least 120 usable pilot subcarriers for CSI or CIR estimation. Additionally, Wi-Fi signals have been recently exploited to track daily human movements and behaviors, while Wi-Fi signal variations have been shown to differ between different people and can consequently be used for their re-identification. --- ### GEOPHYS: The Geometry of Physical Plausibility Authors: Christian Internò, Alexander Pondaven, Habon Issa, Fabio Pizzati, Francesco Pinto, Markus Olhofer, Ivan Laptev, Philip Torr, Eero P. Simoncelli, Barbara Hammer, David Klindt Published: 2026-06-15 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.20707v1 While humans can identify physically implausible events within milliseconds, machine learning approaches addressing the same problem are extremely slow and expensive. They either rely on external multimodal-LLM judges or require ad-hoc modifications to the training procedure. In this work, we argue that indicators of physical plausibility are implicitly captured by five geometric properties of the per-frame embeddings produced by frozen image encoders. In aggregate, we call them GEOPHYS. First, we show that these signals correlate with human EEG responses to two forms of object-permanence violations. Second, GEOPHYS robustly discriminates physically implausible videos from realistic ones, achieving state-of-the-art physics-violation detection: 98.3% on LikePhys and 93.3% on IntPhys2, whereas V-JEPA 2, GPT-4o, Gemini, and twelve modern video diffusion models perform near chance. Third, used as a best-of-N verifier for physical alignment during video generation, GEOPHYS lifts MAGI-1 24B from 50.01% to 64.50% on PhysicsIQ at 1.5x lower wall-clock and 4.65x lower memory than the V-JEPA 2 world-model verifier. Ultimately, GEOPHYS demonstrates that physical plausibility in videos can be assessed by leveraging the emergent geometric properties of temporal features extracted from image encoders. --- ### MotionPyramid: Hierarchical Motion Representation and Residual Interfaces Authors: Gao Zhu, Zaishuo Xia, Yubei Chen Published: 2026-06-15 Categories: cs.CV, cs.AI, cs.RO arXiv: https://arxiv.org/abs/2606.20705v1 We ask whether the representational hierarchy seen in perception, from local primitives such as edges to higher level structures such as parts and objects, can be established for motion. In humanoid control, low level actions specify immediate motor commands, while meaningful behavior is organized over longer temporal scales, including contacts, gait fragments, balance recovery, reaching, and whole body skills. We introduce MotionPyramid, a hierarchical action representation that learns such structure from motion data. Starting from a motion tracking teacher, it trains a recursive stack of latent decoders: low level latents decode to immediate full body motor commands, while higher level latents unfold through lower levels into temporally extended motion programs. After pretraining, the hierarchy is frozen and reused by downstream reinforcement learning policies as a family of action interfaces at different control resolutions. Experiments show the learned levels form a motion hierarchy: coarser interfaces improve early learning and motion regularity by constraining exploration to structured segments, while finer interfaces preserve feedback control and final task precision. Representation probes show the hierarchy supports traversal, interpolation, transition, and qualitative composition, exposing editable control handles across temporal scales. Finally, we introduce Residual Interfaces, letting a downstream policy maintain coarse, segment level, and frame level residual commands through the frozen hierarchy. Analogous to residual or skip connections in deep networks, this allows coarse motion programs and fine residual corrections to coexist within one controller. MotionPyramid shows that motion, like perception, can be organized into a reusable multi level representation, providing structured abstraction without sacrificing controllability. --- ### Artificial Intelligence as Monism: Ontological, Organisational, and Methodological Implications Authors: Bertrand K. Hassani Published: 2026-06-15 Categories: cs.AI, stat.AP arXiv: https://arxiv.org/abs/2606.20704v1 This paper argues that Artificial Intelligence should be understood as a form of monism: a unified substance that cannot be decomposed into separate elements such as data, algorithms, or technical architectures. Drawing from philosophical traditions of monism, dualism, and holism, the paper contends that AI is not merely a collection of components but a single, indivisible essence reflecting the phenomena it replicates. Treating AI as monism has deep implications across multiple dimensions. Epistemologically, it positions AI as the central interpretive force across technological, organisational, and societal domains, while raising ethical and existential concerns regarding singularity, the homogenisation of innovation, and the concentration of decision-making power. At the organisational level, a monistic approach challenges traditional siloed structures, advocating instead for transversal, problem-centric teams whose mandate derives from the integrity of the problem rather than from departmental hierarchy. In project management, it implies a unified vision and an integrated evaluation of complexity in which no single stakeholder perspective dominates the assessment of outcomes. In data and information management, it calls for architectures that reflect the irreducible unity of the phenomena being modelled. Ultimately, this paper calls for a paradigm shift in how AI is conceptualised, governed, and integrated, suggesting that only by embracing AI as monism can organisations achieve genuine agility and avoid the structural inefficiencies inherent to reductionist approaches. --- ### Robust Image-Driven Phenotyping of Ovarian Tumor Cells using Optimized Dynamic Features in Hyperbolic Channels Authors: Hong-Fei Li, Xi-Lin Gao, Yi-Juan Xiang, Shu-Song Huang, Yi-lin Wang, Chun-Dong Xue, Zhuo Yang, Yong-Jiang Li, Xu-Qu Hu Published: 2026-06-15 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.20703v1 Label-free, image-based cellular mechanophenotyping in microfluidic devices provides a high-throughput method for single-cell profiling. However, while complex microchannels (e.g., hyperbolic geometries) reveal transient deformation dynamics under continuous extensional stress, the resulting high-dimensional feature spaces are highly susceptible to hydrodynamic artifacts. Flow rate variations often distort discriminative boundaries, linking feature distributions to fluid conditions rather than intrinsic biology. To overcome this, we introduce a stability-guided analytical framework that decouples flow-induced noise from authentic mechanobiological signatures. We tracked the morphodynamic, kinematic, and intracellular optical-density trajectories of healthy and malignant ovarian cells to build a 93-dimensional feature space. Using a cross-flow screening strategy based on structural consistency and statistical persistence, we isolated robust descriptors, creating task-adapted subsets (20 features for binary classification; 25 for cancer subtyping). Variance-attribution analysis confirmed the neutralization of flow-conditioned artifacts; notably, flow-associated variance in the primary principal component fell from 69.9% to 9.3% in the subtyping task. We also found that macroscopic binary discrimination depends on bulk kinematic transitions, while clonal subtyping requires localized intracellular optical heterogeneity. These optimized subsets maintained diagnostic fidelity across multiple machine learning architectures and restricted sampling conditions. This framework establishes a robust, flow-independent foundation for continuous dynamic phenotyping. --- ### Beyond Templates: Revisiting Zero-Shot Remote Sensing through Meta-Prompting Authors: Eirini Baltzi, Dionysis Christopoulos, Sotiris Spanos, Valsamis Ntouskos, Konstantinos Karantzalos Published: 2026-06-15 Categories: cs.CV, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2606.20702v1 Vision-language models (VLMs) have sparked growing interest in zero-shot Earth Observation (EO) downstream tasks, with further gains enabled by remote-sensing-adapted models. We examine this setting across 17 VLM variants and 12 remote sensing (RS) datasets under Meta-Prompting for Visual Recognition (MPVR), and show that zero-shot performance remains highly sensitive to textual design choices, from the meta-prompts used to guide the LLM in generating class descriptions to the descriptions themselves. We explore why semantically rich LLM-generated class descriptions do not translate into consistent gains over simple domain-adapted CLIP-style descriptions. While LLM descriptions are more semantically expressive, they can also introduce noise in the text embedding space, reducing robustness in downstream tasks. We support this observation through a text log-likelihood analysis in the whitened CLIP feature space, comparing LLM-generated and template-based descriptions. Building on this finding, we study query embedding calibration and show that lightweight calibration of the query space consistently yields strong improvements in zero-shot classification and retrieval. Overall, our results provide practical insight into the trade-off between semantic richness and robustness, and identify embedding calibration as a simple and effective tool for improving zero-shot remote sensing performance. --- ### BARD-MARL: Byzantine-Agent Detection for Learned Communication in Multi-Agent Reinforcement Learning Authors: Almond Kiruthu Murimi Published: 2026-06-15 Categories: cs.MA, cs.DC, cs.LG arXiv: https://arxiv.org/abs/2606.20701v1 Learned communication improves coordination in cooperative multi-agent reinforcement learning, but it also creates a trust problem: a trained policy may route information through agents that have become faulty or adversarial. This paper studies Byzantine-agent detection for learned-communication MARL in adaptive traffic signal control. We propose BARD-MARL, a post-hoc diagnostic layer on top of BayesG, which is used as an attributed communication substrate rather than as a contribution of this paper. BARD-MARL combines two agent-level evidence streams: policy-graph features extracted from state-action trajectories and Bayesian trust statistics computed from BayesG latent mask probabilities. Across fixed-action, observation-flip, random-noise, and coordinated attacks in SUMO traffic grids, the results show that these signals are complementary rather than universally dominant. On a 25-agent grid, BARD-MARL reaches 0.843 AUC-ROC under a 10% observation-flip attack, while policy-graph-only detection reaches 0.917 AUC-ROC under a 10% coordinated attack. On a 100-agent grid, the unified BARD-MARL variant reaches 0.982 AUC-ROC for both 10% fixed-action and 10% coordinated attacks. The study shows that learned communication policies expose useful diagnostic evidence, but credible resilience claims require attack-specific ablations and explicit separation between coordination, detection, and mitigation. ---