# Research Papers — 2026-07 · bundle page 171 of 222 > Full-text markdown of papers #8501–8550 of 11075 published in 2026-07, newest first. AI-readable mirrors of the full 11075-paper 2026-07 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-07/page/171 [← Previous bundle](https://aipod.dev/papers/archive/2026-07/page/170.md) [Next bundle →](https://aipod.dev/papers/archive/2026-07/page/172.md) ### G-PROBE: Cross-FOV Place Recognition and Certainty-Coupled Localization for 3D Point Clouds Authors: Jinseop Lee Published: 2026-07-07 Categories: cs.RO, cs.CV arXiv: https://arxiv.org/abs/2607.06782v1 Global localization from 3D point clouds remains challenging under limited or asymmetric fields of view (FOV), which fail to provide the dense, symmetric coverage that place recognition methods assume. We present G-PROBE, a learning-free global localization framework that removes this assumption. A virtual sensor decomposition runs the same pipeline, by design, on configurations ranging from a narrow-FOV sensor to a panoramic or multi-sensor rig. The front-end enumerates cross-FOV branch ensembles that encode heading hypotheses for heading-invariant place recognition. A score-scale-invariant, tuning-free gamma-SGRT suppresses heading aliasing under partial FOV and provably becomes inert at symmetric 360 degrees. The back-end, CG-GICP, refines a coarse full-cloud GICP with a pass restricted to high-certainty co-observed points selected by a bird's-eye-view certainty map (a by-product of front-end scoring). This certainty coupling links descriptor evaluation to 6-DoF metric pose estimation without an external verification module. Evaluated on five LiDAR datasets and three modalities (mechanical, solid-state, FMCW), G-PROBE attains the highest learning-free multi-session F1 on average and is competitive in panoramic single-session settings. Where hand-crafted and zero-shot supervised baselines collapse under wide-to-narrow cross-sensor pairing, it remains usable end-to-end (up to 55.0% vs. no more than 6.8% success), and under FOV asymmetry (360 to 60 degrees) it retains about 54% Recall@1, about 18x the strongest learning-free baseline. --- ### On Explicit Super-Expressive Approximation for Neural Networks Authors: Feng-Lei Fan, Ze-Yu Li, Chen-Yu Wang, Jian-Jun Wang Published: 2026-07-07 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.06781v1 In this work, we investigate the fixed-architecture neural network approximation with explicit parameter bounds and elementary activations. While prior work demonstrated super-expressive approximation using fixed-size networks, they lack quantitative and non-asymptotic characterizations of parameter magnitude with respect to the approximation error. We resolve this issue by introducing the Chinese Remainder Theorem as a constructive encoding mechanism. For Lipschitz continuous functions on $(0,1)^D$, we construct a width-$\max\{D,4\}$, depth-$5$ network with explicit parameter-error trade-offs. For Hölder-smooth functions in $C^{r,γ}_A\left((0,1)^D\right)$, our fixed network of width $\max\{2D,\ D+5N+1\}$ and depth $r + 9$ achieves the parameter magnitude $\mathcal{P}$ bounded by $\log_2 \mathcal{P}=\mathcal{O}\bigl(\varepsilon^{-2D/(r+γ)}\log(1/\varepsilon)\bigr)$. This is the dual result compared to those in the parameter-bounded and architecture-unbounded paradigm. --- ### URS-Stereo: Uncertainty-Guided Residual Search for Real-Time Stereo Matching Authors: Pouya Sohrabipour, Chaitanya kumar reddy Pallerla, Dongyi Wang Published: 2026-07-07 Categories: cs.CV arXiv: https://arxiv.org/abs/2607.06779v1 Real-time stereo matching is crucial for robotics, autonomous systems, and embedded vision applications, where both computational efficiency and disparity accuracy are required. Recent coarse-to-fine stereo matching methods improve efficiency by progressively refining disparity estimates using local cost volumes at higher resolutions. However, these methods rely heavily on the accuracy of propagated disparity estimates from previous stages. When the propagated disparity is inaccurate, the ground-truth correspondence may fall outside the predefined local search range, leading to unrecoverable matching failures during subsequent refinement. In this paper, we propose URS-Stereo, a real-time coarse-to-fine stereo matching framework that addresses this limitation through uncertainty-guided search adaptation. Specifically, we introduce an Uncertainty-Guided Residual Search Module (UGRSM), which predicts the reliability of propagated disparities together with residual search offsets to adaptively relocate the centers of local cost volumes before disparity refinement. By dynamically adjusting the search region according to the confidence of the propagated disparity, the proposed method significantly improves the robustness of local correspondence estimation while preserving the computational efficiency of coarse-to-fine stereo matching. Extensive experiments on SceneFlow, KITTI 2012, KITTI 2015, Middlebury, and ETH3D demonstrate that URS-Stereo consistently improves disparity estimation while maintaining real-time inference speed, validating the effectiveness of the proposed uncertainty-guided search strategy --- ### Efficient Bayesian Deep Ensembles via Analytic Predictive Inference Authors: Sina Aghaee Dabaghan Fard, Marie Maros, Jaesung Lee Published: 2026-07-07 Categories: cs.LG, stat.ME arXiv: https://arxiv.org/abs/2607.06776v1 We introduce an efficient Bayesian deep ensemble method for predictive regression designed to enhance interpretability while maintaining competitive predictive performance and computational efficiency. Our method combines the statistical rigor of Bayesian inference with the scalability of deep ensembles, providing calibrated uncertainty estimates that enable its use not only for standalone prediction but also as a component within broader learning systems. To achieve these goals, our work relies on three key design components: (i) low-dimensional ensemble representation: predictions are expressed as a combination of a small number of trained neural predictors, enabling scalable inference whose cost depends on ensemble size rather than dataset size; (ii) closed-form Bayesian aggregation: ensemble predictions are combined using Bayesian linear regression, yielding interpretable posterior weights and calibrated uncertainty without approximate inference; and (iii) Independent ensemble training: multiple neural networks are trained separately, producing diverse predictive representations that improve robustness and uncertainty calibration. Empirical results on standard regression benchmarks demonstrate that the proposed approach achieves competitive predictive performance while maintaining reliable uncertainty estimates across settings. --- ### Efficient Long-Horizon Learning for Learned Optimization Authors: Xiaolong Huang, Benjamin Thérien, James Harrison, Eugene Belilovsky Published: 2026-07-07 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.06772v4 Learned optimization aims to improve upon hand-designed optimizers (e.g., Adam and Muon) by meta-learning small neural network optimizers over a distribution of tasks. While recent work has greatly advanced the architectural design and inductive biases of learned optimizers (LOs), their meta-training remains biased toward short-unroll learning on particular tasks, resulting in redundant computation and leaving LOs often unable to compete with hand-designed optimizers. We introduce Efficient Long-hOrizon (ELO) learning, an efficient meta-training algorithm that (1) reallocates wasted meta-training compute to longer failure regimes, achieving efficient long-horizon learning, and (2) enforces decoupled progressive expert supervision, providing stable meta-learning signals that additionally improve the generalization of LOs. Our empirical study evaluates ELO for meta-training both element-wise and matrix-based LOs. Across downstream language modeling (GPT-2-124M/350M on FineWeb) and image classification (ViT-B/16, ResNet-50 on ImageNet-1K) tasks, ELO substantially improves the long-unroll performance and out-of-distribution generalization of the base LOs. In particular, ELO-Celo2 consistently outperforms well-tuned AdamW across all evaluated tasks, while remaining competitive with Muon on language modeling. \textit{Notably, all ELO baselines require less than 7 H100 GPU-hours for meta-training.} --- ### AirPASS: Over-the-Air Federated Learning via Pinching Antenna Systems Authors: Seyed Mohammad Azimi-Abarghouyi, Christopher G. Brinton Published: 2026-07-07 Categories: cs.IT, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2607.06768v1 This paper investigates over-the-air federated learning (AirFL) in wireless systems where the access point is equipped with a multi-waveguide pinching antenna system (PASS). We adopt the widely studied learning-oriented AirFL formulation, which seeks to maximize the number of selected devices while keeping the aggregation distortion below a prescribed threshold. The resulting joint optimization of device selection, receive beamforming, and pinching-antenna placement is highly nonconvex due to the intricate coupling among these system variables. To address this challenge, we develop AirPASS, an alternating optimization framework with two main components: a homotopy-Riemannian margin-consolidation method for device selection and receive beamforming under fixed PASS configuration, and a homotopy-assisted geometry optimization method for updating the pinching-antenna positions under fixed selected devices and beamformer. Experiments show that AirPASS consistently outperforms conventional co-located MIMO baselines, remains close to ideal FedAvg, and achieves an attractive performance-complexity tradeoff relative to SDR-DC and matching-pursuit scheduling alternatives. --- ### Deployment Risk Assessment Using Diff-Aware Features: A Case Study at Prime Video Authors: Mayur Kurup, Hyunjae Suh, Swathi Vaidyanathan, Pranesh Vyas, Srinidhi Madabhushi, Yegor Silyutin Published: 2026-07-07 Categories: cs.SE, cs.LG arXiv: https://arxiv.org/abs/2607.06766v2 At Amazon Prime Video, we face the critical operational challenge of managing code deployments during live events and rapid feature releases without causing service outages. Current change control approaches use blanket deployment freezes that block all changes regardless of risk, creating significant developer toil. While prior research has explored risky change predictors, these rely on developer-specific metadata or extensive historical data, raising privacy concerns and limiting applicability to new projects. We introduce a framework centered on diff-aware features, characteristics derived directly from code modifications. Our key contribution is the systematic identification of which quantitative metrics (code-level and change-level metrics) and qualitative indicators (coding style violations, change type classification) are necessary for risk prediction. We employ LLMs as multi-language feature extractors, demonstrating their effectiveness for code analysis beyond generation tasks and eliminating the need for language-specific tooling. We evaluated our framework on two datasets: Prime Video's production environment and the public ApacheJIT dataset. Our best-performing model achieves an average recall of 0.83 and F1 score of 0.81 across both datasets for detecting risky code changes. Notably, ablation analysis reveals that change-level volume metrics (e.g., lines added/deleted) are noisy predictors, while structural code complexity provides a substantially stronger risk signal. These results demonstrate that thoughtful feature curation enables effective change risk assessment across different programming languages and organizational contexts while avoiding privacy concerns. --- ### Cost-Effective Agent Harnesses for Abstract Reasoning and Generalization on ARC-AGI-1 Authors: Kabir Moghe, Peter Chin Published: 2026-07-07 Categories: cs.AI arXiv: https://arxiv.org/abs/2607.06764v1 Recent progress on ARC-AGI-1 from disclosed architectures has come broadly from two regimes: heavy test-time compute over frontier models (evolutionary search, exhaustive sampling, extended chain-of-thought), or benchmark-specific training in which small models are fine-tuned on ARC data, often with task-specialized architectures. We study a third regime: an open-weight model in non-thinking mode (DeepSeek V3.2) under a strict budget, with no ARC-specific fine-tuning. We study what is recoverable through architecture alone, building agentic harnesses that decompose pattern-discovery and program-synthesis stages explicitly. First, we introduce an Explorer-Definer Pipeline that separates pattern discovery from executable transformation synthesis, implemented as a two-stage agent pipeline. Next, we present the Reflective Orchestrator, which augments the pipeline with autonomous exploration of new transformations when previous hypotheses fail on training pairs. On the ARC-AGI-1 public 400-task evaluation set, the pipeline reaches 57.50% pass@2 at \$0.25 per task, and the orchestrator reaches 67.25% pass@2 at \$0.62 per task. Together these architectures lift a 15.50% one-shot baseline by ~52 points without benchmark-specific training or heavy test-time compute. Furthermore, the orchestrator-driven lift tests a falsifiable diagnostic the pipeline produces; unbiased pass@k analysis suggests the pipeline is generation-bound, not selection-bound (selection via training-pair accuracy captures ~95% of the candidate ceiling) and predicts that significant improvement requires broader generation, not better ranking. The orchestrator implements this prediction via adaptive re-exploration and confirms it (unbiased pass@1 lift +9.81 pp, matching selection-mediated pass@2 lift). An additional pipeline ablation identifies its think tool as a significant component, with removal reducing pass@2 by 5.75 pp. --- ### Trees from Marginals: Autoregressive drafting with factorized priors Authors: Yuma Oda, Ryan Mathieu, Roman Knyazhitskiy, Artur Chakhvadze Published: 2026-07-07 Categories: cs.LG, cs.CL arXiv: https://arxiv.org/abs/2607.06763v2 Speculative decoding greatly increases the interactivity of autoregressive language models by trading off computation for extra tokens generated in a single forward pass. Factorized draft models are especially efficient because they predict future-token marginals in parallel, but their independence assumption causes acceptance rates to degrade sharply as the speculative budget grows. We analyze this limitation and introduce Weaver, a lightweight autoregressive adapter that constructs proposal trees from the top-K marginals of a factorized drafter. Weaver restores conditional dependencies between proposed tokens while avoiding a full-vocabulary projection. To support fast verification for models with Gated Delta Net layers, we derive a rollback-free tree-verification algorithm and implement optimized CUDA kernels in SGLang. By combining these model and systems contributions we achieve a 4.37-fold speedup over autoregressive decoding, and outperform a highly optimized DFlash baseline by 24.7%. --- ### QANTIS: Hardware-Calibrated Sequential POMDP Belief Updates on IBM Heron Authors: Bayram Yuksel Eker, Suayb S. Arslan, Ozgur Nazli, Mustafa Serhat Demirgil, Furkan Deligoz Published: 2026-07-07 Categories: cs.AI, quant-ph arXiv: https://arxiv.org/abs/2607.06760v1 Autonomous systems under partial observability act on beliefs, not raw sensor events. QANTIS treats the quantum processor as a calibrated belief-update service in that loop: it receives a prior and an observation model, estimates the rare-event evidence term, and returns an ordinary posterior to a classical planner. This paper asks whether that service can be reused across a sequential Tiger POMDP horizon on present IBM Heron hardware without corrupting the planner-facing posterior. We answer with a controlled hardware case study rather than an end-to-end autonomy or wall-clock speedup claim. The study compares no amplification, guarded Grover amplification, and all-step fixed-point amplification on the same trajectory, then checks whether the returned posterior would change the downstream action. All-step FPAA preserves the Tiger posterior across the reported 8-step and 12-step primary runs, and the 20-step and 32-step controls remain inside the same operating band. In every reported decision check, the hardware posterior and the exact Bayes posterior select the same immediate action. Boundary-aware BIQAE stabilizes amplitude estimation near zero and near one, while a rare-event sweep maps the logical sample-complexity envelope for one-in-a-million evidence. The result is an operating envelope for a hardware-calibrated belief-update primitive, not a standalone hardware-advantage claim. --- ### LLM-powered reasoning in agent-based modeling Authors: Sifat Afroj Moon, Dakotah Maguire, Adam Spannaus, Joe Tuccillo, Maksudul Alam, Sudip K. Seal, John Gounley, Heidi Hanson Published: 2026-07-07 Categories: cs.AI, cs.MA arXiv: https://arxiv.org/abs/2607.06757v1 Agent-based modeling (ABM) has the capability to model millions of individuals and their interactions, which is useful for policy making. However, ABMs have traditionally relied on static prior, which prevents the models from adapting to real-time changes. Our research provides a novel approach to addressing this information gap. Large language models (LLMs) offer new opportunities to predict human decision-making. Here, we introduce a scalable Hybrid Agent-based and Language-driven Epidemic (HALE) modeling framework that leverages LLMs to predict human decision-making in an ABM simulation. As a proof-of-concept, we use HALE to simulate COVID-19 and its effects in Salt Lake County, UT. --- ### SmartHomeSecure: Automated Detection and Repair of Smart Home Configuration Errors Using Large Language Models Authors: Yizhi Wang, Xinghua Gao, Reachsak Ly, Alireza Shojaei Published: 2026-07-07 Categories: cs.SE, cs.AI arXiv: https://arxiv.org/abs/2607.06748v1 Smart home automation platforms increasingly rely on user-authored YAML configuration files to define device behaviors, but these files are prone to syntax, formatting, and semantic logic errors that can cause automation failures and safety risks. Existing YAML validators, static analysis tools, and general-purpose large language models offer limited support for end-to-end diagnosis and repair because they lack domain-specific understanding and validated correction workflows. This paper presents SmartHomeSecure, a prototype for automated detection and repair of Home Assistant configuration errors using lightweight program analysis and constraint-guided large language model generation. SmartHomeSecure parses YAML files, detects syntactic and common semantic errors, normalizes error context, applies deterministic auto-fixes for routine defects, and constructs constrained prompts that guide LLMs toward minimal and structurally valid repairs. The system is implemented as a modular web application with four layers: UI Shell, Feature Orchestrator, Domain Engine, and Integration Layer. Its repair pipeline was evaluated on 100 real-world Home Assistant YAML files with manually injected errors across five categories: syntax/parsing, indentation, mapping, sequence, and scalar quoting errors. Four models were tested: gpt-oss-20b, gpt-oss-120b, llama-3.1-8b, and llama-3.3-70b. Results show that three models achieved 100% error detection accuracy, with repair success rates ranging from 87% to 93%. Manual verification found no hallucinated or incorrect repairs among successful outputs. These findings suggest that combining domain-aware program analysis with constrained generative AI is a feasible approach for improving the reliability and usability of smart home configuration repair. --- ### A Continual Learning Framework for Adaptive Control of Modular Soft Robots Authors: Nilay Kushawaha, Muhammad Sunny Nazeer, Baljinder Singh Bal, Cecilia Laschi, Egidio Falotico Published: 2026-07-07 Categories: cs.RO, cs.AI arXiv: https://arxiv.org/abs/2607.06740v1 Soft robots have attracted significant attention in applications such as medical intervention, rehabilitation, and robotic manipulation due to their inherent compliance, flexibility, and high degrees of freedom. Modular soft robots (MSRs), composed of multiple interconnected segments, represent an emerging class of robotic systems with highly deformable and reconfigurable structures capable of performing complex tasks. However, designing controllers for MSRs remains challenging due to their nonlinear dynamics, modeling complexity, and hyper-redundant nature. Existing approaches typically require controllers to be retrained from scratch whenever the robot morphology changes. In this work, we address these challenges through a continual learning inspired control framework capable of incrementally adapting to changes in robot morphology while preserving previously acquired knowledge. Specifically, the proposed framework enables the controller to sequentially learn new MSR configurations without forgetting previously learned ones. In addition, for MSRs with fixed configurations, the same framework can be employed in a distributed manner to learn module-specific dynamics, enabling localized control and improved precision. The proposed approach is validated through closed-loop trajectory tracking experiments in simulation using a tendon-driven soft robot, as well as on a real-world three-module pneumatic soft robotic arm. Furthermore, we demonstrate the adaptive capabilities of the framework through a reaching experiment in which the controller selectively activates only the necessary modules to reach a virtual target position, thereby reducing computational overhead. --- ### Hardware-aware Graph Neural Networks prunning for embedded event-based vision Authors: Piotr Wzorek, Kamil Jeziorek, Tomasz Kryjak Published: 2026-07-07 Categories: cs.CV arXiv: https://arxiv.org/abs/2607.06739v1 Event-based cameras are gaining popularity as the sensor of choice for mobile robotics, due to their high performance in dynamic environments. However, these applications require efficient real-time data processing with low latency and power consumption. One strategy to meet these stringent requirements is hardware acceleration of efficient algorithms that preserve the temporal sparsity of event data. In this work, we propose an optimization strategy for Graph Convolutional Neural Networks models aimed at adapting their architecture to the limited resources of embedded heterogeneous FPGA platforms. Our method incorporates hardware-aware pruning and quantization, taking into account the trade-off between on-chip memory savings and inference accuracy. Strategic exploration of the design space with Fine Grid Search and Greedy layer-wise Iterative Deepening Search methods enables flexible adaptation of the model architecture to the target platform. Our approach was evaluated across various network configurations and multiple datasets, resulting in BRAM memory reductions of 28.8% for CIFAR-10 (with a 1.65% decrease in accuracy), 31.4% for MNIST-DVS (accuracy drop of 3.55%), and 26.5% for N-Caltech101 (with a 5.18% accuracy reduction). --- ### An Introduction and Tutorial for the Beagle Framework Authors: Ilya Basin, Nathan Haut Published: 2026-07-07 Categories: cs.NE arXiv: https://arxiv.org/abs/2607.06731v3 The Beagle framework is a GPU-based genetic programming framework that enables highly efficient genetic programming search using large population sizes by leveraging NVIDIA GPUs. This technical guide provides an introduction to the Beagle framework and provides detailed instructions for using the framework for symbolic regression problems. --- ### A Good Initialization is All You Need for Faithful Visual Attribution Authors: Zihan Gu, Jiayu Wang, Hua Zhang, Yue Hu Published: 2026-07-07 Categories: cs.CV arXiv: https://arxiv.org/abs/2607.06726v1 Faithful visual attribution identifies which image regions support a model prediction. Search-based perturbation methods lead the insertion--deletion faithfulness frontier by masking regions and measuring score changes, but they usually output a complete ordering of all regions. Many applications, especially MLLM attribution and repair, only need a compact top-\(k\) evidence mask. We study this mask-first attribution problem. An exactly \(k\)-region mask is combinatorial: useful evidence can depend on interactions among fine regions. Coarse grouping can stabilize early search but aggregates redundant content, whereas one-step scoring can miss high-value combinations. We introduce two forward-only methods. \textsc{CoPAIR} uses a PhaseWin--Greedy gap diagnosis to construct coarse singleton/pair candidates that warm-start full-ordering search. \textsc{TRACE} directly searches fixed-cardinality fine-region masks with cross-entropy sampling, elite retention, and distribution updates, with a finite-budget recovery analysis. The resulting evidence set can be returned as a compact attribution mask or used to initialize Greedy or PhaseWin when a complete ranking is required. Across ImageNet classification with CLIP ViT-L/14, CLIP RN101, and ResNet-101, our initialized search methods establish a new state-of-the-art frontier for faithful full-ordering attribution under inclusive forward-call accounting. On POPE and RePOPE with Qwen2.5-VL-3B-Instruct and LLaVA-v1.5-7B, \textsc{TRACE}+Greedy gives the strongest search-based MLLM attribution results. Direct \textsc{TRACE} masks further achieve single-point RePOPE repair rates of \(94.44\%\) and \(96.00\%\), showing that compact evidence masks can be actionable attribution outputs, not merely prefixes of full rankings. --- ### Optimization Geometrodynamics: Variational Reduction and Interaction Curvature Authors: Zavier Li Published: 2026-07-07 Categories: math.OC, cs.LG, math.DG arXiv: https://arxiv.org/abs/2607.06723v2 Adaptive optimizers carry hidden states that change how visible gradients become parameter motion. We develop optimization geometrodynamics as a variational theory of this hidden geometry. Infimal pushforward eliminates all hidden states realizing the same action and composes across optimizer hierarchies. Under smooth nondegeneracy, it yields hidden susceptibility and the Schur-complement curvature seen after relaxation. For affine pre-reduction perturbations, the induced interaction curvature is the negative-semidefinite operator $-G^*H^{-1}G$, whose mixed entries integrate to finite mechanism contrasts. Our main realization is the determinant-one affine-invariant SPD action map $P\mapsto PA$. We prove a global analytic bundle with closed totally geodesic fibers and a unique analytic nearest-controller section. A strongly convex fiber theorem and an explicit logarithmic action residual give a globally linearly convergent solver from every feasible initializer, together with nonasymptotic value, controller-distance, and residual bounds and observable posterior stopping certificates. A conditional inexact result propagates supplied rigorous residual-error and radius majorants. The dense spectral kernel is confined to an active subspace of dimension $r\le 2m$, yielding an explicit spectral-arithmetic operation bound and a strict dimensional reduction when $r<d$. For nested shape-normalized quadratic actions, canonical multi-secant projections satisfy an exact CAT(0) Pythagorean decrease and recover the determinant-one inverse Hessian shape at the sharp rank threshold $d-1$, provided the scalar gauge $c_H=(\det H)^{1/d}$ is known. These results turn the action bundle into an exact iterative computation with posterior certificates and a finite-identification theory. --- ### When Does In-Context Search Help? A Sampling-Complexity Theory of Reflection-Driven Reasoning Authors: Yotam Wolf, Noam Wies, Amnon Shashua Published: 2026-07-07 Categories: cs.AI, cs.CL arXiv: https://arxiv.org/abs/2607.06720v1 Training large language models (LLMs) with extended reasoning has enabled in-context search, in which models iteratively generate, critique, and revise solution attempts. We provide a theoretical analysis of in-context search by modeling it as approximate inference over reasoning traces, where the base model defines a prior and self-reflection provides feedback for posterior updates, and study the resulting inference-time sampling complexity - the number of sequential attempts needed to achieve high success probability. We show that when reflections reliably localize early mistakes, in-context search can yield exponential improvements over the base model, solving problems with exponentially small zero-shot pass rates using only a polynomial number of sequential attempts, whereas when this property fails, conditioning on past attempts offers no asymptotic benefit over parallel sampling. We further show that these gains are robust and learnable: approximate posterior updates suffice, and cross-entropy training on search rollouts recovers the required behavior with polynomial sample complexity. Finally, we show that under a stagewise abstraction of reinforcement learning with verifiable rewards, the optimal policy extension implements the same posterior reweighting rule. We validate key qualitative predictions of the theory on real large reasoning models. --- ### Macroeconomic Message Passing for Anticipating Foreign Exchange Regime Changes: A Deep Logical Learning Approach using Graph Tsetlin Machines Authors: Christian Blakely, Melanie Gilmore Published: 2026-07-07 Categories: cs.CE, cs.LG arXiv: https://arxiv.org/abs/2607.06719v1 This paper introduces a graph-theoretic approach for predicting market regimes in foreign exchange (FX) currency prices. Specifically, the proposed model incorporates exogenous macroeconomic variables to update localized node features via message-passing operations. Utilizing the Graph Tsetlin Machine (GraphTM) framework, we empirically demonstrate the efficacy of this approach in anticipating market regimes for the US Dollar and Japanese Yen currency pair (USD/JPY). By representing multivariate macroeconomic drivers and technical indicators as hypervectorized directed multigraphs, the GraphTM leverages structured message passing to construct deep, interpretable logical clauses capable of recognizing complex sub-graph patterns. --- ### Reliable and Developer-Aligned Evaluation of Agents for Software Engineering Authors: Razvan Mihai Popescu Published: 2026-07-07 Categories: cs.SE, cs.AI arXiv: https://arxiv.org/abs/2607.06713v1 Large language models are rapidly moving towards closing the development cycle, transitioning from simple assistive companions to autonomous contributors deeply embedded into collaborative development environments. Despite their accelerated adoption, existing evaluation techniques are limited due to their fragmented nature and distorted projection of true model capabilities, often obtained from hypothetical syntactic scenarios. This research aims to bridge this gap by providing a comprehensive evaluation methodology for LLM-powered agents that is grounded in real-world software development practice. Our evaluation approach focuses on contamination-awareness, in-the-wild agentic behavior assessment, and trajectory-aware benchmarks and metrics capturing realistic coding contexts, human-aligned behavior, and model failure modes. --- ### Vision Language Action (VLA) Models for Unmanned Aerial Robotics and Bimanual Manipulation: A Review Authors: Inkyu Sa, Chanoh Park, Hea-Min Lee, Donghee Noh, Ho Seok Ahn Published: 2026-07-07 Categories: cs.RO, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2607.06706v1 Vision Language Action (VLA) models unify visual perception, natural-language understanding, and action generation within a single foundation model, allowing a robot to follow instructions such as fold the towel or fly to the red building directly from camera images. Because VLAs inherit world knowledge from internet-scale pre-training, they have become the dominant framework for learning-based manipulation, with bimanual coordination serving as the most demanding testbed: two arms with 7 degrees of freedom each must move in concert to fold, assemble, and reorient objects. Unmanned aerial robotics faces a structurally similar challenge: a drone must coordinate thrust, attitude, and increasingly gripper commands from visual observations under strict latency and payload constraints. This review covers 183 contributions spanning 2017-2026 and organized along seven dimensions: VLA architectures, training recipes, action representations, bimanual coordination (2022-2026), unmanned aerial vehicle (UAV) navigation and control (2017-2026), language grounding, and cross-cutting concerns including memory and world models. We show that the coordination strategies, training recipes, and action representations developed for bimanual VLAs transfer to unmanned aerial systems and identify fourteen research directions across both domains. --- ### SPEAR: A Simulator for Photorealistic Embodied AI Research Authors: Mike Roberts, Renhan Wang, Rushikesh Zawar, Rachith Dey-Prakash, Quentin Leboutet, Stephan R. Richter, Matthias Müller, German Ros, Rui Tang, Stefan Leutenegger, Yannick Hold-Geoffroy, Kalyan Sunkavalli et al. Published: 2026-07-07 Categories: cs.CV, cs.AI, cs.GR, cs.LG, cs.RO arXiv: https://arxiv.org/abs/2607.06701v1 Interactive simulators have become powerful tools for training embodied agents and generating synthetic visual data, but existing photorealistic simulators suffer from limited generality, programmability, and rendering speed. We address these limitations by introducing SPEAR: A Simulator for Photorealistic Embodied AI Research. At its core, SPEAR is a Python library that can connect to, and programmatically control, any Unreal Engine (UE) application via a modular plugin architecture. SPEAR exposes over 14K unique UE functions to Python, representing an order-of-magnitude increase in programmable functionality over existing UE-based simulators. Additionally, a single SPEAR instance can render 1920x1080 photorealistic beauty images directly into a user's NumPy array at 73 frames per second - an order of magnitude faster than existing UE plugins - while also providing ground truth image modalities that are not available in any existing UE-based simulator (e.g., a non-diffuse intrinsic image decomposition, material IDs, and physically based shading parameters). Finally, SPEAR introduces an expressive high-level programming model that enables users to specify complex graphs of UE work with arbitrary data dependencies among work items, and to execute these graphs deterministically within a single UE frame. We demonstrate the utility of SPEAR through a diverse collection of example applications: controlling multiple embodied agents with distinct action spaces (e.g., humans, cars, and robots) across several in-the-wild UE projects; rendering photorealistic city-scale environments; manipulating UE's procedural content generation systems; rendering synchronized multi-view images of detailed human faces; coordinating an interactive co-simulation with the MuJoCo physics simulator; and editing scenes with natural language via an AI coding assistant. --- ### Heat-Kernel Entropy Profiles and Geometric Effective Sample Size for Weighted Measures on Manifolds Authors: Kisung You, Boram Cho Published: 2026-07-07 Categories: stat.ML, cs.LG, stat.ME arXiv: https://arxiv.org/abs/2607.06696v3 Weighted empirical measures on compact manifolds appear in importance sampling, particle approximations, posterior summaries, quadrature, and representation learning. Ordinary effective sample size and related weight summaries ignore the geometry of the support. We introduce heat-kernel entropy profiles to measure nonuniformity after intrinsic diffusion at a range of scales. For order-two Rényi entropy, pairwise heat-kernel overlaps give an exact profile and a geometric effective sample size. This effective sample size discounts nearby or duplicate particles. It approaches ordinary effective sample size as overlaps between distinct particles vanish. On compact boundaryless manifolds, we establish profile monotonicity, gESS scale limits, deterministic-weight consistency, and a bounded-ratio result for self-normalized importance sampling. On spheres, the unlogged profile decomposes into spherical-harmonic energies. The first terms are squared mean-resultant and traceless-second-moment energies, which give vMF- and Bingham-type scalar summaries. Experiments identify antipodal, girdle, multimodal, and duplicate-particle structures that weight-only and first-moment summaries miss. --- ### CoMind: Understanding Collaborative Human Activity from Multiple Minds and Views Authors: Alexey Gavryushin, Dingxi Zhang, Zhao Huang, Alexandros Delitzas, Jiaqi Chen, Ben Ellis, Cedric Zöllner, Manthan Patel, Manuel Kaufmann, Marc Pollefeys, Xi Wang Published: 2026-07-07 Categories: cs.CV arXiv: https://arxiv.org/abs/2607.06691v1 Human-human collaboration is a fundamental aspect of everyday life, essential to success in a wide range of goal-directed activities from household tasks to professional teamwork. While much research has focused on modeling coordination and task execution, the cognitive processes that support such collaboration, particularly Theory of Mind (the ability to infer the mental states of others), remain difficult to study in natural settings. To address this gap, we introduce a novel egocentric and exocentric video dataset capturing real-world collaboration in cooking scenarios. The dataset integrates multi-perspective video, high-quality audio, gaze tracking, and 3D scene and object scans, with annotations for shared attention to objects, social cues and interactions between agents, as well as agent-object interactions. We establish benchmarks for Joint Attention Estimation, Socially Conditioned Object Interaction Anticipation, and Collaborative Handover Prediction, enabling research on multimodal perception, proactive assistance, and collaborative planning. By providing temporally aligned, richly annotated multimodal data, CoMind facilitates the development and evaluation of AI systems capable of modeling complex social interactions and reasoning about human behaviors in collaborative environments. Our dataset and benchmarks are made available at https://comind.ethz.ch/. --- ### tsbootstrap: Distribution-Free Uncertainty Quantification and Conformal Prediction for Time Series Authors: Sankalp Gilda Published: 2026-07-07 Categories: stat.ME, cs.AI, cs.MS, q-fin.ST, stat.AP arXiv: https://arxiv.org/abs/2607.06690v1 Finance, sensing, and demand streams violate the exchangeability that IID conformal prediction and the IID bootstrap assume, and existing libraries implement either a general resampling engine or conformal calibration without the other. tsbootstrap provides block, residual, sieve, and wild resampling, classical bootstrap confidence intervals, and adaptive conformal calibrators (EnbPI, ACI, NexCP, AgACI) through a single typed API in which a specification object selects each method. In a controlled coverage study the IID bootstrap undercovers sharply under dependence; dependence-aware methods reduce the coverage deficit, the sieve nearest to nominal under short-memory linear dependence. On the shared fixed-statistic path a compiled backend runs several times faster than arch, and a streaming reduce avoids materializing the $O(Bn)$ replicate tensor, limiting peak extra memory to $O(B)$ for the statistic array. The software is MIT licensed (v0.6.1). --- ### Digital Fragmentation and Generative AI Use Across 103 Million Application Events Authors: Sumer S. Vaid, Ashley V. Whillans Published: 2026-07-07 Categories: cs.HC, cs.AI, cs.ET, stat.AP arXiv: https://arxiv.org/abs/2607.06681v2 Knowledge workers switch between applications thousands of times per day, spending nearly a tenth of the work year transitioning between digital applications in a process called digital fragmentation. Whether this fragmentation reflects who an employee is, where they work, or what kind of day they are having, has remained an open question. We analyzed 103 million application events recorded second-by-second from 1,017 employees across eight organizations that largely employ knowledge workers (e.g., law, financial services). Day-to-day variation in fragmentation within individual employees accounted for 44.6% of the variation in digital fragmentation, slightly exceeding stable individual differences between employees (35.8%), and far exceeding variation between organizations (19.6%). Fragmentation rose over the work week and reset after weekends and holidays. Higher-than-typical use of communication applications coincided with more fragmented work. Generative AI use also occurred on more fragmented days, but the period following AI use was marked by narrower, longer, and more predictable application use. These findings identify the workday as a key level for understanding and intervening on digital fragmentation and suggest that AI may help structure fragmented work rather than merely intensify it. --- ### Digital Fragmentation and Generative AI Use Across 103 Million Application Events Authors: Sumer S. Vaid, Ashley V. Whillans Published: 2026-07-07 Categories: cs.HC, cs.AI, cs.ET, stat.AP arXiv: https://arxiv.org/abs/2607.06681v1 Knowledge workers switch between applications thousands of times per day, spending nearly a tenth of the work year transitioning between digital applications in a process called digital fragmentation. Whether this fragmentation reflects who an employee is, where they work, or what kind of day they are having, has remained an open question. We analyzed 103 million application events recorded second-by-second from 1,017 employees across eight organizations that largely employ knowledge workers (e.g., law, financial services). Day-to-day variation in fragmentation within individual employees accounted for 44.6% of the variation in digital fragmentation, slightly exceeding stable individual differences between employees (35.8%), and far exceeding variation between organizations (19.6%). Fragmentation rose over the work week and reset after weekends and holidays. Higher-than-typical use of communication applications coincided with more fragmented work. Generative AI use also occurred on more fragmented days, but the period following AI use was marked by narrower, longer, and more predictable application use. These findings identify the workday as a key level for understanding and intervening on digital fragmentation and suggest that AI may help structure fragmented work rather than merely intensify it. --- ### Robust Human-AI Complementarity under Uncertainty Authors: Yewon Byun, Bryan Wilder Published: 2026-07-07 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.06656v1 Machine learning models are often intended to augment rather than replace human decision makers, by providing information that is complementary to human judgement. Yet, in practice, human decision makers routinely fail to realize such complementary gains, even when models provide useful signal. In this work, we study how asymmetric information about the quality of information available to a human decision maker vs. an AI impacts the ability of a decision maker to extract complementary value from AI predictions. We show that a key factor is the error correlation structure between human and AI predictions. In particular, when the AI's prediction errors are \textit{negatively correlated} with those of the human, the decision maker can construct robust strategies which guarantee improvements in expected utility. We empirically investigate whether these conditions for complementarity arise in practice, using real-world forecasting benchmarks. --- ### Pelican-VLA 0.5: Attending Before Acting Benefits Generalization Authors: Zeyuan Ding, Wenhai Liu, Yang Xu, Jiayu Hu, Yinda Chen, Yi Zhang, Yong Dai, Jian Tang, Xiaozhu Ju Published: 2026-07-07 Categories: cs.RO, cs.LG arXiv: https://arxiv.org/abs/2607.06655v2 In this report, we present Pelican-VLA 0.5, a unified VLA model that integrates vision-language understanding, future-frame generation, and action prediction within a single architecture. Pelican-VLA 0.5 achieves attention-level generalization: without object annotations, segmentation masks, attention supervision, or task-specific fine-tuning, its action pathway already focuses on the manipulation-relevant object and contact region. This behavior persists across unseen scenes and unseen robot embodiments, and is substantially stronger than in other open-source VLA baselines. We verify that this ability originates from the learnable Bottleneck Token inserted between perception and action: by routing task-relevant visual information through a compact bottleneck, the tokens interface induces manipulation-centric attention during pre-training and remains effective across different policy structures, including a MoT-style architecture. --- ### Dual Attention Heads for Personalized Federated Learning in ECG Classification Authors: Kien Le, Joseph Lindley, Quoc Bao Phan, Tuy Tan Nguyen Published: 2026-07-07 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.06653v1 Federated learning (FL) enables collaborative model training across institutions without sharing sensitive patient data. However, the inherent heterogeneity of electrocardiogram (ECG) data across healthcare providers presents significant technical challenges for robust classification. We propose FedDualAtt, a personalized federated learning approach that splits transformer attention heads into global and local branches. Global heads are aggregated via FedAvg to capture shared cross-site patterns, while local heads remain client-specific to adapt to institution-level recording characteristics. Experiments on FedCVD, an FL benchmark for cardiovascular disease detection, demonstrate that FedDualAtt outperforms existing FL and personalized FL methods in ECG classification tasks. Analysis of global-local head ratios reveals that different clients benefit from varying levels of architectural personalization. --- ### From Jumps to Signatures: a Generative Method for Temporal Point Processes Authors: Niels Cariou-Kotlarek, Vasileios Lampos Published: 2026-07-07 Categories: cs.LG, stat.ML arXiv: https://arxiv.org/abs/2607.06652v1 Rough path signatures are a universal feature map for continuous paths and, via the expected signature, characterise path distributions. These guarantees do not directly extend to cadlag paths of Temporal Point Processes (TPPs), limiting the use of signature methods for event sequences. Furthermore, neural TPP models, including recent generative approaches, optimise per-event objectives with no global sequence-level loss, while evaluation of variable-length event sequences lacks distributional discrepancy measures. This paper proposes a common pathwise framework for addressing these limitations. We introduce the interarrival embedding, a stable, injective lift from jump paths to continuous paths of bounded variation, extending signature methods to discrete event sequences. Our theoretical contributions give rise to sigTPP, the first signature-based generative model for TPPs, trained using a path-level loss on complete trajectories. We further analyse the space of counting paths and derive three distributional discrepancies, providing mathematically justified tools for evaluating generative TPP models. Across synthetic and real-world datasets, sigTPP achieves the best average rank based on eight complementary metrics, outperforms or is within a standard error of the strongest baseline in 64% of the dataset-metric pairs, and according to a relative score, improves against every baseline by at least 19% on average. --- ### Entropy-Guided Tensor Compression for Multimodal Federated Learning on Edge Devices Authors: Quoc Bao Phan, Tuy Tan Nguyen Published: 2026-07-07 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.06651v1 Federated learning (FL) over mobile and edge devices increasingly involves multimodal models in which clients differ in both sensing capability and computational capacity. Existing update compression schemes typically apply uniform policies across layers and devices, without accounting for modality-specific differences in spectral structure and compressibility. We propose MESH-FL, an entropy-guided matrix product state (MPS) update-compression framework for modality-heterogeneous FL on resource-constrained devices. MESH-FL estimates the spectral entropy of each layer-wise update via truncated singular value decomposition and allocates MPS compression ranks adaptively across layers, modalities, and devices under per-client payload budgets. We show that higher spectral entropy necessitates a higher reconstruction rank under the majorization order on singular-value energy distributions. Building on this result, we prove that the proposed entropy-guided allocation solves a convex surrogate rank-allocation problem, preserves monotonicity under the exact payload model, and achieves convergence with an explicit compression-dependent error term. Experiments on a 15-node heterogeneous Raspberry Pi~4/5 cluster with modality-heterogeneous clients show that MESH-FL achieves up to $56.8\times$ compression while surpassing the uncompressed FedAvg baseline in final accuracy by up to 2.01%, and reduces total transmitted data to reach convergence by up to $66\times$. --- ### POPS: Recovering Unlearned Multi-Modality Knowledge in MLLMs with Prompt-Optimized Parameter Shaking Authors: Zhangheng LI, Jianing Zhu, Junyuan Hong, Sungmin Eum, Shuowen Hu, Suya You, Zhangyang Wang Published: 2026-07-07 Categories: cs.CR, cs.LG arXiv: https://arxiv.org/abs/2607.06649v1 Multimodal Large Language Models (MLLMs) have demonstrated impressive performance on cross-modal tasks by jointly training on large-scale textual and visual data, where privacy-sensitive examples could be unintentionally encoded, raising concerns about privacy or copyright violation. To this end, Multi-modality Machine Unlearning (MMU) was proposed as a mitigation that can effectively force MLLMs to forget private information. However, the robustness of such unlearning methods is not fully exploited when the model is published and accessible to malicious users. In this paper, we propose a novel adversarial strategy, namely Prompt-Optimized Parameter Shaking (POPS), aiming to recover the supposedly unlearned multi-modality knowledge from the MLLMs. Our method elicits the victim MLLMs to generate potential private examples via prompt-suffix optimization, and then exploits these synthesized outputs to fine-tune the models so they disclose the true private information. The experiments on the different MMU benchmarks reveal substantial weaknesses in the existing MMU algorithms. Our POPS can even achieve a near-complete recovery of supposedly erased sensitive information on the unlearned MLLMs, exposing fundamental vulnerabilities that challenge the foundational robustness of representative MMU-based privacy protections. --- ### Final Checkpoints Are Not Enough: Analyzing Latent Reasoning Faithfulness Along Training Trajectories Authors: Hengyu Jin, Shu Yang, Di Wang Published: 2026-07-07 Categories: cs.LG, cs.CL arXiv: https://arxiv.org/abs/2607.06648v2 Latent reasoning performs multi-step inference in continuous hidden states, promising more compact and efficient reasoning. However, these opaque states raise a question of faithfulness: whether the latent reasoning steps drive the final answer. Prior work studies this question at selected checkpoints and reports several unfaithful behaviors. This endpoint view leaves how evidence of faithfulness evolves during training unexamined. We track behavioral and activation-based evidence across training using verified counterfactual edits and interventions on the latent reasoning states. We find that high task accuracy can coexist with low counterfactual responsiveness: as accuracy improves, responsiveness can decline, and different latent reasoning approaches follow distinct trajectories. On ProsQA, output sensitivity to norm-noise replacement declines alongside counterfactual responsiveness, although the result depends on the replacement. Across separately trained binary-choice and open-ended GSM settings, intervention sensitivity follows opposite trajectories. These results show that evaluating only a final checkpoint can obscure both when counterfactual responsiveness changes and what the latent states contribute. --- ### Final Checkpoints Are Not Enough: Analyzing Latent Reasoning Faithfulness Along Training Trajectories Authors: Hengyu Jin, Shu Yang, Di Wang Published: 2026-07-07 Categories: cs.LG, cs.CL arXiv: https://arxiv.org/abs/2607.06648v1 Latent reasoning methods perform multi-step inference entirely in the model's continuous hidden states, promising more compact and efficient reasoning. However, these opaque hidden states raise a question of faithfulness: whether these latent reasoning steps causally drive the final answer. Prior work investigates this question at converged checkpoints and reports several unfaithful behaviors, such as latent reasoning steps that can be replaced without changing the answer, but leaves how these behaviors form during training unexamined. We instead track how faithfulness evolves across saved checkpoints for different latent reasoning paradigms, applying a verifiable counterfactual edit on the input and a noise-ablation activation patch on the latent reasoning steps. We find that (i) at the output level, latent reasoning methods can look similarly unfaithful at convergence under counterfactual edits while following qualitatively divergent trajectories; (ii) at the activation level, the causal contribution of latent reasoning steps to the final answer decays across training for both paradigms, with the examples that flip on the output side in (i) also being the examples on which this contribution decays; and (iii) the activation-level trajectory diverges by answer format, decaying on binary choice and rising on open-ended decoding. These findings highlight that latent reasoning faithfulness depends on training stage and answer format. --- ### ORAN-DEFEND: Subspace Detection and Sanitization of Backdoor DRL xApps in Open RAN Authors: Md Raihan Uddin, Fatemeh Lotfi, Tolunay Seyfi, Fatemeh Afghah Published: 2026-07-07 Categories: cs.CR, cs.LG arXiv: https://arxiv.org/abs/2607.06647v1 Open Radio Access Networks (O-RAN) increasingly delegate near-real-time control to deep reinforcement learning (DRL) xApps obtained from third-party vendors, creating a new supply-chain attack surface. A backdoor policy behaves optimally until an adversary injects a covert trigger into the observed key performance indicator (KPI) telemetry, at which point it issues harmful control actions that degrade quality of service (QoS). We present ORAN-DEFEND, a retraining-free wrapper that sanitizes a frozen, potentially compromised xApp by projecting each KPI window onto a safe subspace estimated from a small number of trusted clean rollouts via singular value decomposition (SVD). We establish, both analytically and empirically, a precise recovery condition: the defense succeeds if the trigger energy concentrates in the orthogonal complement of the safe subspace, and we quantify this boundary through the trigger's $\Eperp$ energy fraction. On the Colosseum COLORAN dataset, we evaluate four structurally distinct DRL backdoor attacks, like TrojDRL, SleeperNets, BadRL, and Q-Incept, spanning inner-loop and outer-loop poisoning regimes and demonstrate $100\%$ return recovery and $\geq99.5\%$ defense success rate across all four when the subspace assumption holds. A geometry ablation reveals an intrinsic and previously uncharacterized limit of any linear projection defense: when the trigger collocates with the legitimate signal, the $\Eperp$ energy fraction governs recovery monotonically, and the linear residual detector collapses to chance even while a nonlinear classifier retains perfect separability. --- ### Diffusion enabled Optimal Transport distances for graph matching Authors: Iman Seyedi, Francesco Archetti Published: 2026-07-07 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2607.06646v1 This paper introduces Diffusion Semi-Relaxed Fused Gromov-Wasserstein (DsrFGW), a novel method for graph comparison that unifies node features and structural connectivity through optimal transport. While traditional Gromov-Wasserstein and semi-relaxed variants (srGW, srFGW) capture graph structure, they often struggle with sparse, noisy, or partially observed graphs. Inspired by Graph Diffusion Distance, which posits graphs are similar if they enable similar information transmission patterns, DsrFGW incorporates diffusion processes allowing information propagation across nodes, capturing local and global structural patterns while reducing sensitivity to noise or missing edges. An extensive evaluation on 36 synthetic pairwise graph matching tasks (easy, medium, hard) demonstrates consistent superiority over srFGW, achieving accuracy improvements of 0-20 percentage points and dramatic Adjusted Rand Index (ARI) gains: in medium-difficulty scenarios, srFGW often achieves negative ARI (worse than random) while DsrFGW offers better performance in terms of both internal and external clustering quality measures (i.e., Adjusted Rank Index and Accuracy with respect to the true underlying clusters, respectively). Even under severe noise, DsrFGW improves clustering quality in 92% of the synthetic tasks with optimal diffusion scales adapting to problem difficulty, establishing DsrFGW as a robust framework for graph comparison under structural uncertainty. --- ### Fast determinantal sampling on general spaces and diffusion geometry Authors: Hoang-Son Tran, Pranav Gupta, Subhroshekhar Ghosh Published: 2026-07-07 Categories: stat.ML, cs.LG, math.PR arXiv: https://arxiv.org/abs/2607.06644v1 Determinantal point processes have recently emerged as a kernel-based alternative to standard independent sampling for constructing efficient minibatches, coresets, and other compact representations of large-scale datasets. In particular, sampling mechanisms based on DPPs are believed to demonstrate better approximation properties compared to classical i.i.d. samplers, even at the scale of the exponent. One of the key strengths of DPP based samplers is that they can be deployed over very general spaces, in contrast to more classical sampling methods beyond i.i.d. which tend to work in very well-structured settings, principally Euclidean spaces. In this work, we establish explicit rate guarantees for determinantal sampling in spaces that extend far beyond known Euclidean setups, focusing on spectral kernels obtained from eigenspaces of naturally associated Laplacian and other Markov diffusion operators. This includes, in particular, Riemannian manifolds and weighted networks. In determinantal sampling from compact Riemannian manifolds, we establish sampling rates that automatically pick up the intrinsic dimensionality $d_{\text{int}}$ of the underlying manifold. In the setting of networks, we investigate DPP-based samplers on the celebrated k-nearest neighbour graphs, as well as weighted random geometric graphs, and demonstrate a similar improved dependence on the intrinsic dimensionality of the data. Overall, our approach achieves guarantees of $\big(\text{sample size}\big)^{-\frac{1}{2}-\frac{1}{2d_{\text{int}}}}$ that match known rates on Euclidean spaces of comparable dimension. In terms of techniques, we connect to the celebrated Weyl's Law for manifold spectra, and leverage tools from the theory of Markov diffusions and Dirichlet forms as well as certain ingredients from the theory of pseudodifferential operators, which could be of independent interest in this area. --- ### The Power of Backdoor Absorption in Community Training Authors: Issam Seddik, Sami Souihi, Mohamed Tamaazousti, Sara Tucci Piergiovanni Published: 2026-07-07 Categories: cs.CR, cs.LG arXiv: https://arxiv.org/abs/2607.06643v1 Backdoor attacks severely threaten large-scale AI models. When model owners delegate training to external compute providers within a decentralized training paradigm, adversaries can craft stealthy, low-frequency triggers to inject malicious behavior while evading standard audits. Traditionally, detecting these attacks requires a full re-computation of the training steps--a prohibitive overhead that directly contradicts the owner's resource constraints. To address this, we investigate the resilience of continuous optimization dynamics under Byzantine perturbations, where adversaries are forced to compete against a continuous influx of honest updates. Under a threat model where an adversary compromises f out of n total trainers, we quantify the minimum auditing overhead required by the model owner to probabilistically bound the attack success rate. We formalize this injection-absorption dynamic as a Discrete-Time Markov Chain (DTMC). Using this framework, we prove that the success probability of any bounded adversary asymptotically collapses to zero under a defense strategy combining natural absorption, a randomized scheduler, and lazy verification oracle. Empirical results demonstrate significant backdoor suppression with zero utility degradation even when invoking the verification oracle on merely 10% of the total training steps. This approach yields a provably sound and computationally efficient defense for safety-critical AI. --- ### The Approximation Ratio for the Risk of Myopic Bayesian Active Learning for Linear Regression Authors: Stephen Mussmann Published: 2026-07-07 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.06642v1 Active learning studies the fundamental question: what data should we choose to observe? The greedy algorithm in optimal experiment design is a common heuristic and also equivalent to myopic Bayesian active learning for linear regression, the common framework where long-term planning is replaced with the one-step optimal choice. In this work, we prove a first-of-its-kind approximation ratio for the greedy algorithm's risk that is tight up to an absolute constant. The approximation ratio is linear in the maximum initial leverage score (MILS), a newly identified quantity fundamental to the greedy algorithm's performance. Finally, we illustrate the results with simple numerical simulations. --- ### Healthier LLMs: Retrieval-Augmented Generation for Public Health Question Answering Authors: Felix Feldman, Joshua Harris, Timothy Laurence, Leo Loman, Ollie Higgins, Fan Grayson, Poonam Soma, Bethany Pace-Bonello, Michael Borowitz, Toby Nonnenmacher Published: 2026-07-07 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2607.06641v1 Large language models (LLMs) achieve promising results on medical question answering benchmarks, yet their use in public health is constrained by hallucinations and the rapid evolution of official guidance. Retrieval-Augmented Generation (RAG) mitigates these risks by grounding responses in an explicitly maintained corpus, but end-to-end performance depends critically on retrieval configuration and on evaluation beyond multiple-choice formats. We extend PubHealthBench, a question answering (QA) benchmark of 7,929 questions derived from UK Government public health guidance, into a retrieval-augmented setting and systematically evaluate retrieval and generation choices. We compare dense, sparse, and hybrid retrieval across multiple embedding models and corpus variants, and show that hybrid retrieval consistently improves recall and ranking quality, with chunk length and topic interacting with ranking performance. Providing retrieved context substantially increases multiple-choice accuracy across a diverse set of LLMs, enabling smaller open-weight models to match or outperform larger models used without retrieval, with gains primarily driven by retrieval quality and careful context selection. To assess realistic free-form answering, we introduce a rubric-based LLM-as-a-judge covering faithfulness, completeness, clarity, and factual consistency, and validate it against dual human annotations. Judge-human agreement is strongest for faithfulness and completeness, while factual consistency and clarity are less reliably reproduced, motivating caution when interpreting those dimensions at scale. Overall, our results highlight retrieval as a primary lever for reliable public health QA and provide practical guidance for building and evaluating RAG systems grounded in official guidance. --- ### What a World Model Represents Is Three Questions Authors: Donna Vakalis Published: 2026-07-07 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2607.06640v2 World models learn task-relevant information through many routes: observation reconstruction, recurrent state, temporal filtering, and explicit task supervision. Different routes can make different variables available. The same variable can also be available through several routes at once. When it is, looking at which route would increase the training loss most if removed does not tell you which route the model actually uses. The questions are reachability, whether a training signal can identify a task-relevant direction; admission, whether that direction is recoverable from the latent; and assignment, which eligible route carries it. We test them in environments with a known set of required coordinates. A direction cannot enter the latent unless some training signal can identify it. Reconstruction, recurrence, or filtering may already recover some of those coordinates; a reward or value head then has no residual direction to admit. For what remains, how many independent predictions the target supplies is how many coordinates install: one through four independent predictions admit one through four directions, including through the value head. Reachability is not admission: a temporal second-moment coefficient can remain absent under next-token prediction when accumulating it is a fraction of a percent of that loss, and a head that predicts the coefficient restores it. Assignment is a different test. Two routes that each carry the same variable when trained alone do not swap the carrier when we reverse which is more costly to remove. A recurrent model trained on a transformer's recorded sequences shows the same pattern. Near the point where the competing route is beginning to clear the probe threshold, independent training runs disagree. What a world model represents is therefore three questions: what information is reachable, what supervision admits, and which competing route carries it. --- ### The Rank-One Corner: How Much Value Equivalence Does a Task Need from a World Model? Authors: Donna Vakalis Published: 2026-07-07 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2607.06640v1 A learned world model is usually judged by how faithfully it reconstructs its observations or predicts reward, as though quality were something the model simply has or lacks. But what a task actually needs from a model is narrower: the few predictive coordinates its queries depend on, which we call the closure. We show that how much of that closure a latent comes to represent is set not by the model's capacity or its observations but by the dimensionality of the objective it is trained against, and we measure this directly on a DreamerV3 stack in a controlled environment with known ground-truth closure. An aligned scalar value signal -- the objective at the heart of value equivalence -- installs only a one-dimensional projection of a closure that needs several dimensions: read through a single linear probe, the recoverable structure rises from R^2=0.10 to 0.76 as the scalar is replaced by the full objective. Sweeping the objective's dimensionality from one to four installs exactly that many predictive directions through an auxiliary head, and the same staircase appears -- at attenuated magnitude but the same rank -- through the model's own value head, so the dissociation is dimensional rather than an artifact of head form. Capacity-matched comparisons and in-situ pressure checks rule out the obvious alternatives. The law governs a regime, and we measure its boundary: on a companion closed-loop task whose structure is observable frame by frame, reconstruction installs that structure and the scalar objective suffices -- the objective decides what a latent represents exactly where cheaper training signals cannot already recover it. Value equivalence is thus not all-or-nothing but dimensional: the familiar single-reward objective is its rank-one corner, and a model installs as much of a task's structure as the objective it is asked to predict. --- ### At-Grok Is Not Converged:A Measurement-Validity Audit for Grokking Representation Metrics Authors: Truong Xuan Khanh Published: 2026-07-07 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2607.06639v1 On modular arithmetic, a network's embedding keeps compressing for tens of thousands of steps after it has already generalized. Reading effective rank at the grokking transition overstates the converged value by 3-5x on an MLP, and by 1.3-1.5x on a transformer trained to convergence; on the MLP it also erases which cells compress at all. Compression lags the accuracy transition by an amount on the order of the time-to-grok, at least 10,000 steps, rather than coinciding with it. A one-variable ablation shows what sets the lag size: adding LayerNorm to an otherwise identical transformer moves the fraction of compression done by the grok step from 0.87 to 0.25, and a pre-registered control rules out scale invariance as the mechanism. We package this as an audit that separates onset from compression, flags censoring, excludes boundary cells that never fully generalize, and checks that the reference floor has plateaued, with an adversarial suite that caught a false-confidence bug in our own branch. A secondary, MLP-specific depth law linking norm budget to converged floor fails a generality test on a transformer and flips sign under free weight decay. Code and the toolkit are released. --- ### UASPL: Uncertainty-Aware Self-Paced Learning with Evidential Neural Networks Authors: Yifan Zhang, Yuxin Hu, Zhuobin Hao, Xiaozhuan Gao, Lipeng Pan Published: 2026-07-07 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.06638v1 Self-paced learning (SPL) is an effective learning paradigm that simulates the human learning process by progressing from easy to difficult samples based on the value of the loss function during the learning process. It has shown great potential in improving model performance and training efficiency. However, the prediction results of samples with smaller loss values are not necessarily reliable, indicating that such samples are not always simple samples for the model. Hence, this article proposes an uncertainty-aware self-paced learning based on evidential neural networks, termed UASPL, which integrates predictive reliability into sample selection through a general loss function within the Subjective Logic framework. This loss function incorporates uncertainty estimation and can be extended to different variants of SPL. Moreover, this loss function couples a sample selection preference, thereby ensuring the interpretability of the sample selection process. Finally, the experimental results on multiple datasets show that UASPL outperforms other SPL methods in terms of classification performance, interpretability, and generality. The source code is available at: https://github.com/treelife979/UASPL. --- ### Optimized Instance Alteration for Explaining and Assessing Robustness of Classifiers Authors: Evgenii Kuriabov, David Miller, Jia Li Published: 2026-07-07 Categories: cs.LG, stat.ME arXiv: https://arxiv.org/abs/2607.06637v1 In this work, we propose a unified approach for diagnosing misclassification and assessing the robustness of black-box classifiers. Central to our method is an optimization framework that modifies an instance so that the classifier predicts a specified target label, while ensuring that the modification remains easily explainable. The objective function contains two components: an explainability-aware $L_0$ (XA-$L_0$) penalty that promotes sparse and interpretable modifications, and a classifier loss objective that steers the perturbed instance toward the desired output. This integrated optimization formulation is used both to identify the underlying causes of misclassification and to evaluate robustness by determining how an instance can change within a tolerance region before being reassigned to another class. To quantify robustness, we introduce the Tolerance Region Confusion Matrix (TOR-Confusion Matrix), which measures a classifier's susceptibility by modeling the class-to-class transition probabilities induced by tolerance-bounded perturbations. We validate the proposed method on both image and tabular datasets, demonstrating its ability to jointly deliver interpretability and robustness assessment. --- ### Specification Grounding Drives Test Effectiveness for LLM Code Authors: Amin Haeri, Mahdi Ghelichi Published: 2026-07-07 Categories: cs.SE, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2607.06636v1 Large language models frequently generate code that appears correct on typical inputs yet fails on edge cases, invalid inputs, and other specification-defined corner conditions. A popular fix has the model write its own tests and repair until they pass, but the source of the gain is unclear: does it come from the tests merely existing, or from their grounding in a specification of what the code should do? We isolate this factor. Holding the tester, test budget, and repair loop fixed, we change a single prompt line that controls whether the tester receives the spec as a checklist of rules. The baseline is strong: it is already told to probe invalid inputs and edge cases. Grounding the tests in the spec produces correct code +38 percentage points more often than this baseline across three Claude tiers (Haiku 4.5, Sonnet 4.6, Opus 4.8), and +36 points on a held-out set. Grounding, not test quantity, is the primary driver: doubling the test budget barely helps, and combining eight independent ungrounded suites plateaus far below grounding. An ablation isolates the spec's content, not its format: given the spec as a plain paragraph the tester recovers 27 of 30 bugs, but asked to plan tests without the spec it recovers only 2 of 30. The effect survives stronger baselines: a property-based generator catches 28 of 30 bugs but invents out-of-spec requirements, and an AlphaCodium-style loop only matches the baseline. It replicates across vendors (GPT-5.3-codex +28, Gemini 3.5 Flash +19), with a task-level sign test over 18 tasks significant at p=0.002. Grounding improves both sensitivity and precision: it catches more real bugs and wrongly rejects far less correct code, cutting the false-alarm rate from 33% (68% against a Python standard-library oracle) to 0%. On well-specified algorithmic problems it neither helps nor hurts. --- ### When Do Geometric Algebra Layers Beat Scalarization? A Controlled Study on SO(3)-Equivariant Vector Laws Authors: Fabien Polly Published: 2026-07-07 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.06634v1 Compact networks built from Clifford algebra Cl(3,0) primitives are exactly SO(3)-equivariant and learn synthetic 3D vector laws from few samples. We ask whether the geometric algebra structure itself contributes anything beyond exact equivariance. We compare against a minimal scalarization baseline: invariant dot products fed to a small MLP that outputs coefficients on the equivariant basis {v_i, v_i x v_j}, which is also exactly equivariant. On single-stage laws (rotation by axis-angle, cross product, central force), scalarization matches or beats the Cl(3,0) network at a fraction of the training cost, so the geometric algebra adds nothing there. On compositional targets whose computation graph nests group operations (apply R2 R1 to a point; map a local force through an orientation, then take a torque), the Cl(3,0) network beats scalarization by an order of magnitude in the low-data regime, reaching with 100 samples what the baseline needs 3000 for, and the gap survives strengthening the baseline with the triple-product invariant and 17x more parameters, external Vector Neurons and e3nn baselines, and a multiplicative coefficient network. Ablations show the required network depth tracks the rotation chain length, and scalarization falls below the constant predictor on chains of four rotations. The advantage is not composition per se: on a rotation-free nested cross product, which flattens into polynomial invariant coefficients, scalarization wins by 24x. No tested model, equivariant or not, extrapolates invariant magnitudes: on radius and separation shifts every model is worse than a constant predictor once errors are normalized. We conclude that geometric algebra layers are not a general shortcut for low-data 3D learning, but become useful precisely when the target composes group elements in depth. --- ### ProMoE-FL: Prototype-conditioned Mixture of Experts for Multimodal Federated Learning with Missing Modalities Authors: Aavash Chhetri, Bibek Niroula, Eduard Vazquez, Yash Raj Shrestha, Prashnna Gyawali, Loris Bazzani, Binod Bhattarai Published: 2026-07-07 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2607.06633v1 In this paper, we address the problem of multimodal federated learning with missing modality. Existing methods utilize an additional public dataset or perform naive feature synthesis that is based solely on the available modality. To address these limitations, we propose ProMoE-FL, a Prototype-conditioned Mixture-of-Experts framework for robust missing-modality feature synthesis in multimodal federated learning. ProMoE-FL builds a global client-aware prototype bank that captures clinically meaningful modality priors across institutions. Our Mixture of Experts is conditioned on these prototypes and modality indices to enable direction-aware expert routing for dynamically synthesizing missing features. We perform extensive quantitative and qualitative evaluations on four public chest X-ray datasets (MIMIC-CXR, NIH Open-I, PadChest, and CheXpert) and demonstrate that ProMoE-FL consistently outperforms state-of-the-art methods in both homogeneous as well as the more challenging heterogeneous settings. --- ### Does Demand Response Increase Vulnerability to Cyber Attacks by Adversarial Data Modifications? Authors: Clemens Kortmann, Eike Cramer Published: 2026-07-07 Categories: cs.LG arXiv: https://arxiv.org/abs/2607.06632v1 Adversarial attacks are crafted data manipulations that aim to deteriorate the outcomes of prediction or decision-making algorithms. In the energy systems literature, adversarial attacks have been studied with a focus on problems regarding the electricity grid. Such problems include forecasting and grid state estimation, where adversarial attacks are also known as false data injection attacks. Only few studies have analyzed the potential impact that adversarial attacks have on the demand side. We analyze how manipulated price forecasts impact the decision-making in industrial demand response. To this end, we design adversarial attacks that aim to deteriorate the output of electricity price forecasting models and solve scheduling optimization problems of energy-intensive production processes using the distorted price forecasts. We make use of a generalized process model to investigate the vulnerability to adversarial attacks for a range of production scheduling problems with different levels of process flexibility. We find that adversarial attacks can erode the profits gained from demand response. However, when perturbations are limited in extent (so that they are hard to detect by the human user), demand response preserves about 90\% of its financial advantage compared to steady-state process operation. Further, we find that the impact of adversarial attacks on demand response does not only depend on the magnitude of the perturbations but rather on the orientation of the adversarial perturbations. Therefore, we argue that attack analyses should explicitly incorporate the sensitivities of scheduling optimization models into the attack design to enable more rigorous assessments of decision-making under adversarial attacks. ---