# Research Papers — 2026-09 · bundle page 178 of 266 > Full-text markdown of papers #8851–8900 of 13298 published in 2026-09, newest first. AI-readable mirrors of the full 13298-paper 2026-09 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-09/page/178 [← Previous bundle](https://aipod.dev/papers/archive/2026-09/page/177.md) [Next bundle →](https://aipod.dev/papers/archive/2026-09/page/179.md) ### Multi-Modal Tumor Survival Prediction via Graph-Guided Mixture of Experts Authors: H Mathavan, H Liu Published: 2026-09-12 Categories: cs.LG, cs.MA arXiv: https://arxiv.org/abs/2609.14072v1 Large Language Models (LLMs) have displayed impressive capabilities in handling tasks that require few demonstration examples, making them effective few-shot learners. Despite their potential, LLMs face challenges when it comes to addressing complex real-world tasks that involve multiple modalities or reasoning steps. For example, predicting cancer patients' survival period based on clinical data, cell slides, and genomics poses significant logistical complexities. Although several approaches have been proposed to tackle these challenges, they often fall short in achieving promising performance due to their inability to consider all modalities simultaneously or account for missing modalities, variations in modalities, and the integration of multi-modal data, ultimately compromising their effectiveness. This thesis proposes a novel approach for multi-modal tumor survival prediction to address these limitations. Taking inspiration from recent advancements in LLMs, particularly Mixture of Experts (MoE)-based models, a graph-guided MoE framework is introduced. This framework utilizes a graph structure to manage the predictions effectively and combines multiple models to enhance predictive power. Rather than training a single foundation model for end-to-end survival prediction, the approach leverages a MOE-guided ensemble to manage model callings as tools automatically. By leveraging the strengths of existing models and guiding them through a MOE framework, the aim is to achieve better performance and more accurate predictions in complex real-world tasks. Experiments and analysis on the TCGA-LUAD dataset show improved performance over the individual modal and vanilla ensemble models. --- ### GraMRAG: Orchestrating Multi-Agent Multi-Step Reasoning via Graph Memory with Reinforcement Learning Authors: Zhongyu Wang Published: 2026-09-12 Categories: cs.CL, cs.AI, cs.CV arXiv: https://arxiv.org/abs/2609.14066v1 Although existing multi-agent Retrieval-Augmented Generation (RAG) systems have demonstrated promise on complex multimodal reasoning tasks, they remain fundamentally limited in reasoning depth and memory structure, suffering from inadequate retrieval and state blindness when answering knowledge-intensive questions. To address these limitations, we propose GraMRAG, a graph memory-guided multi-agent RAG framework that integrates a dynamic multimodal memory graph to enable stable, multi-step multimodal reasoning. We introduce a vision-text bridged reasoning paradigm that unifies multi-scale entity cropping with a ReAct-style visual toolchain, enhancing the long-horizon cross-modal reasoning capability. We further construct a multimodal memory graph that formalizes agent reasoning as a dynamic directed acyclic graph (DAG), explicitly modeling action-observation dependencies to mitigate state blindness and suppress redundant retrieval. Moreover, we propose Topology-Aware Policy Optimization (TAPO) that leverages graph topology for critical path identification and targeted node pruning, enabling fine-grained credit assignment across multi-step reasoning trajectories. Extensive experiments on challenging multimodal benchmarks demonstrate that our approach consistently outperforms existing baselines and achieves state-of-the-art performance on complex long-horizon reasoning tasks. --- ### Stabilizing Performative Feedback Loops with Minimal Model Deployments Authors: Gabriele Farina, Juan Carlos Perdomo Published: 2026-09-12 Categories: cs.LG, cs.GT arXiv: https://arxiv.org/abs/2609.14065v1 When algorithmic predictions inform people's decisions, the models we deploy are performative and actively shape the data we see. This feedback loop between algorithms and their broader environments introduces a challenge in the mechanics of social prediction: If different predictive models induce different distributions, is it possible to efficiently learn a prediction rule that is optimal for the distribution that it induces? Formally, this solution concept is known as performative stability. A core challenge in learning a performatively stable predictor is that, unlike supervised learning where distributions are fixed, the learner must deploy different predictors and observe their induced distributions. The main contribution of our work is a new algorithmic procedure that, in the high-accuracy regime, finds a performatively stable model in nearly the minimum number of model deployments without making any assumptions regarding how predictions shape distributions. In particular, our procedure succeeds at finding a randomized performatively stable predictor using exponentially fewer model deployments than prior approaches. Our second main contribution is a structural result showing how this recent randomized notion of stability achieved by our algorithm can be derandomized into a single predictor satisfying the prior deterministic notion if one is willing to assume that the loss is well-conditioned and that performative effects are weak, as in early work in this area. On a technical level, our results come from building on an underexplored technical connection between performative stability and expected variational inequalities. --- ### AGENTQ: Quantization-Conditioned Backdoor Attacks on LLM Agents Authors: Xiaoqun Liu, Qiben Yan Published: 2026-09-12 Categories: cs.CR, cs.AI arXiv: https://arxiv.org/abs/2609.14060v1 Quantization is one of the default deployment paths for open-weight LLM agents, but it is not behavior-preserving: an adversary can release a full-precision checkpoint that passes audits yet misbehaves once quantized, termed as quantization-conditioned attack (QCA). Prior QCA work targets free-text generation, where harm is mediated by a human reader. In contrast, the agentic setting poses a more severe risk: the triggered payload is a structured function that can be executed without human oversight. We present the first study of QCA against LLM agents. We find that directly adapting prior backdoor-injection methods can produce malicious behavior after quantization, but substantially degrades benign utility, rendering the resulting attacks impractical. To understand the true upper bound of the threat, we propose AGENTQ, an attack framework that combines layer-banded LoRA injection with partial-PGD repair over a multi-codebook quantization-equivalence class. AGENTQ preserves normal agentic capability while concentrating malicious behavior in the quantized model. Across three trigger-action pairs and three codebooks (NF4, FP4, INT8), AGENTQ reaches up to 100% post-quantization attack success rate with minimal loss of benign utility, underscoring the need to make quantization-aware safety evaluation a standard requirement before open-weight agents are deployed. --- ### Measuring the Creativity of Frontier LLMs in Automated Research Authors: Yiheng Zhao, Mengzhuo Chen, Chengming Hu, Pengyi Liao, Yihan Huang, Yiran Pang Published: 2026-09-12 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.14057v2 Frontier LLMs are increasingly capable of conducting automated research, yet their creativity in this setting has not been systematically evaluated. We propose a set of metrics to evaluate creativity along the two dimensions of valueness and novelty. Valueness assesses whether each proposed idea is useful, while novelty is evaluated from three perspectives: whether the same idea has appeared before (Exact-Match P-Novelty), whether the modified variable or variable combination has been explored before (Variable-level P-Novelty), which reflects the breadth of research-space exploration, and whether the proposed idea is explicitly attributed to external knowledge in the model's reasoning (H-Novelty). Our evaluation shows that the models achieve relatively similar Valueness and Exact-Match P-Novelty scores, while differing substantially in Variable-level P-Novelty. H-Novelty is also consistently high among the models for which it can be evaluated. Notably, further correlation and idea-level performance analyses reveal a strong positive correlation between Variable-level P-Novelty and research performance. --- ### Data-Efficient Agentic Graph Domain Adaptation via Reliability-Aware Prototype Learning Authors: Yingxu Wang, Kunyu Zhang, Siyang Gao Published: 2026-09-12 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.14045v1 Agentic learning systems are often required to adapt after deployment by observing new data and reusing prior knowledge under limited supervision or feedback. For graph-structured prediction, Graph Domain Adaptation (GDA) naturally instantiates this setting by transferring knowledge from labeled source graphs to unlabeled target graphs under distribution shifts. However, most GDA methods assume sufficient labeled source graphs, which becomes restrictive in data-efficient agentic settings where only limited source evidence can be retained. Under such constraints, source semantics become unreliable, leading to unstable source anchoring, uncertain target association, and fragile targetmarginal calibration. To address these challenges, we propose DEAG, a reliability-aware prototype learning framework for data-efficient agentic GDA. DEAG estimates class reliability from retained source support and embedding compactness, and constructs stable reusable source anchors by blending empirical prototypes with classifier directions. Guided by these anchors, DEAG performs prototype-aware soft target association and aligns confidence-weighted target centers with source semantics. A source-prior regularizer further sharpens target predictions while keeping the target marginal consistent with retained source evidence. Experiments on graph benchmarks with diverse domain shifts show that DEAG improves average adaptation performance over competitive GDA baselines under the same source-data budget. --- ### Real-World Deployment and Performance Characterisation of Fog-Based Deep Learning for Cold-Chain Temperature Prediction over LoRaWAN Authors: Jeremiah Taguta, Jean Frederic Isingizwe Nturambirwe, Clement Nthambazale Nyirenda Published: 2026-09-12 Categories: cs.DC, cs.LG arXiv: https://arxiv.org/abs/2609.14036v2 Fresh fruits and vegetables (FFVs) are highly perishable, and cold-chain breaks contribute significantly to global food waste. While Machine Learning (ML) can enable proactive intervention, cloud-based inference faces challenges such as latency and data loss. Fog computing addresses these issues but has been tested only in simulation for FFV cold-chain temperature prediction. To the best of the authors' knowledge, this paper presents its first real-world deployment. A fog-deployed LSTM-GRU model predicted cold-room temperature using LoRaWAN sensor data collected from a South African apple cold-storage facility with induced cold-chain breaks. Running entirely on a Raspberry Pi 4 with no cloud dependency, the system generated conditional SHAP explanations only when a break is predicted. The deployed system predicts cold-room temperature with an MAE of 0.2°C at roughly 0.2 kWh per day ($\approx 0.7$ Wh per prediction). Predictions were delivered in under one second (555 ms), dominated by network and messaging rather than computation, with conditional explanations adding modest cost. SHAP consumes 28% more CPU but is well within the hardware's capacity. The model attributes its predictions primarily to temperature, humidity, and their interaction. Critically, the deployment surfaced what simulation cannot: a sensor-triggered single point of failure, alongside genuine resilience, autonomous recovery from infrastructure faults and continued operation through internet loss. These are the first published deployment benchmarks for fog-based temperature prediction in FFV cold chains, establishing that explainable temperature forecasting is feasible on resource-constrained edge hardware. Future work includes asynchronous sensor fusion, commercial cold chain deployment, alternative model architectures, and causal analysis. --- ### Quantum-Gated LiteSSD: A Parameter-Efficient Lightweight Hybrid Quantum-Classical Framework for Forward-Looking Sonar Object Detection Authors: Niloy Kumar Mondal, Poulomi Sarker Puja Published: 2026-09-12 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.14025v1 Forward-looking sonar object detection is essential for underwater perception, yet deployment on embedded platforms requires highly compact models. To address this challenge, we explore quantum computing and introduce Quantum-Gated LiteSSD, a parameter-efficient hybrid quantum--classical detector that reformulates QuCNet-style multi-circuit quantum processing as an identity-centered channel-gating mechanism for spatial feature modulation. Experiments on the Marine Debris Watertank dataset and UATD forward-looking sonar benchmarks demonstrate an effective parameter--accuracy trade-off. The proposed detector achieves 90.84% $\mathrm{mAP}_{50}$ on Watertank with approximately $62\times$ fewer parameters than YOLO26s and $164.3\times$ fewer parameters than SSD-VGG16. On UATD, the model achieves 70.37% $\mathrm{mAP}_{50}$ with only 0.150M parameters, making it approximately $4.1\times$ smaller than SSGA-YOLO while retaining meaningful multi-class detection capability. --- ### Conditional Quantum Flow Matching for Data-Scarce Physiological Signal Augmentation Authors: Chi-Sheng Chen, Samuel Yen-Chi Chen Published: 2026-09-12 Categories: quant-ph, cs.LG, cs.MM arXiv: https://arxiv.org/abs/2609.14019v1 Generative augmentation is a standard remedy for label scarcity in physiological signal classification, but existing quantum generative models start from uninformative noise, ignoring class structure that is already available. We propose Conditional Quantum Flow Matching (CQFM): a single 306-parameter circuit, conditioned on both flow time and class label, transports a compact class-conditional prior toward the target distribution. Quantum flow matching as published is unconditional, so this is to our knowledge the first conditional one, and the first EEG augmentation on a parameterized quantum circuit. A nonnegative spectral embedding removes the need for tomography at readout. On BCI Competition IV-2a, starting from a prior rather than noise is worth $+5.1$ accuracy points over QuDDPM (9/9 subjects), though at that operating point a class-conditional Gaussian matches CQFM. Where the prior fails the transport earns its keep: given one transferred from other subjects it regains $+7.2$ TSTR points (9/9). --- ### VeriDx: Earning the Right to Diagnose with Disease-Centric Verification Authors: Zhong Cao, Shuying Chen Published: 2026-09-12 Categories: cs.AI, cs.CL arXiv: https://arxiv.org/abs/2609.14018v1 A correct diagnosis can still be reached for the wrong reasons. In clinical reasoning, every disease hypothesis creates obligations: key evidence must be checked, alternatives must be ruled out, contradictions must be resolved, useful tests must be considered, and closure must be justified. Current evaluations of medical LLMs mostly focus on final answers, local steps, or isolated facts, and therefore miss these hypothesis-induced commitments. We introduce \textbf{VeriDx}, a disease-centric verification framework that links free-form diagnostic reasoning to structured disease profiles. VeriDx tracks whether each hypothesis is satisfied, unresolved, or violated its clinical obligations, exposing failures such as missing critical tests, unresolved differentials, ignored contradictions, unsupported claims, and premature closure. We instantiate VeriDx for complex respiratory diagnosis using guideline-derived disease profiles and expert-annotated longitudinal cases. Our results show that many diagnostic errors are not isolated mistakes, but broken commitments made earlier in the reasoning process. --- ### TF-IDF and BM25 Are Exact KL Divergences Authors: Ivan Silajev Published: 2026-09-12 Categories: cs.IR, cs.CL arXiv: https://arxiv.org/abs/2609.14016v1 TF-IDF and BM25 are two of the most widely used methods for scoring query-document relevance, yet neither has a standard probabilistic derivation that justifies it as a statistical method within a unified framework. We address this gap by showing that both scoring methods admit an exact interpretation as Kullback-Leibler divergences between two probability models. We treat the BM25 variant that includes the plus 1 correction in the IDF term, which is the one used in practice, and also discuss the original BM25 formulation without that correction. The resulting framework provides a common theoretical basis for TF-IDF and BM25, clarifies what they measure, and allows them to be compared theoretically with other information retrieval methods rather than only experimentally. --- ### Schizophrenia Detection from EEG Signals: A Transformer Framework with Spectrogram Representation Authors: Abtin Shafiei, Mohsen Hooshmand, Majid Ramezani Published: 2026-09-12 Categories: cs.AI arXiv: https://arxiv.org/abs/2609.14015v1 Schizophrenia is a serious psychiatric disorder that affects millions of people worldwide, and its diagnosis remains primarily dependent on clinical assessment. Electroencephalography (EEG) provides a non-invasive approach to investigate brain activity and has shown potential to support automated Schizophrenia detection. However, existing EEG-based classification studies often suffer from limitations including small datasets, inconsistent preprocessing strategies, and evaluation protocols that may not adequately prevent subject-related data leakage. In this study, we propose an EEG-based Schizophrenia classification framework that transforms preprocessed EEG recordings into time-frequency representations using the Short-Time Fourier Transform. The generated spectrogram images are classified using both conventional Machine Learning algorithms, including Support Vector Machines, Random Forests, and XGBoost, and Deep Learning models, including convolutional architectures and CNN-Transformer hybrids. To ensure reliable evaluation, all data partitions are performed at the subject level. Experimental results demonstrate that the proposed approach achieves competitive classification performance, with the CNN-Transformer (CT-SZ) model achieving an AUC-ROC of 88.41% and the CNN + Squeeze and Excitation + Transformer (CST-SZ) achieving an AUC-ROC of 92.88% on the independent test set. --- ### Convergent Emergence of In-Context Learning Across Modalities Authors: Nathan Breslow, Seungwook Han, Daniel Hyunsoo Lee, Aayush Mishra, Anqi Liu, Daniel Khashabi Published: 2026-09-12 Categories: cs.AI arXiv: https://arxiv.org/abs/2609.14011v1 Few-shot in-context learning (ICL), the capacity of a model to infer abstract patterns from input-output examples provided in its prompt and apply them to new inputs, has been extensively studied in large language models trained for next-token prediction on human text. Recently, few-shot ICL has been demonstrated in autoregressive genomic models as well. This raises a question: does ICL emerge broadly across domains, and if so, what common structure is shared? To address both, we develop a controlled cross-modality framework that instantiates the same task suite in a variety of modalities to test what we call the Convergent Emergence Hypothesis: the idea that few-shot ICL, when it emerges, shares a common cross-modality difficulty profile - i.e., tasks that benefit from ICL in one modality tend to benefit in others. We show that paired-mapping ICL emerges across six modalities (language, genome, integer sequences, time series, images, and proteins), surpasses controlled baselines, and has correlated per-task effects across five of them. Together, these results provide support for the Convergent Emergence Hypothesis in some modalities, but not all. --- ### CirrGuide: A Deep Cascaded Framework for Liver Cirrhosis Segmentation and Severity Classification from T2-Weighted MRI Authors: Muntaqim Ahmed Raju, Ruizhe Ma Published: 2026-09-12 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.14010v1 We present CirrGuide, a deep cascaded framework for cirrhotic liver segmentation and severity classification. Cirrhosis causes progressive structural changes in the liver and can lead to serious clinical complications, making severity assessment important for disease monitoring and treatment planning. However, severity classification is challenging because imaging patterns are often subtle, spatially variable, and similar across adjacent stages. CirrGuide addresses this by explicitly linking localization with classification. A ResNet50 encoder with an Attention U-Net decoder first predicts a soft cirrhotic liver mask, which is then used as an anatomical prior in a ResNet50-based classification branch. This branch combines global multi-scale features with mask-guided attention-pooled regional features to classify Mild, Moderate, and Severe cirrhosis. On the official CirrMRI600+ T2-weighted (T2W) 2D split, CirrGuide achieves 89.83% Dice and 84.14% mIoU for segmentation, 69.58% accuracy and 61.55% macro F1-score for severity classification. Compared with segmentation-only, classification-only, and multi-task baselines, CirrGuide improves both localization and severity classification, demonstrating the benefit of using predicted cirrhotic liver masks as anatomical priors for cirrhosis analysis. --- ### Confuse the Model, Control the Flow: Understanding and Mitigating Privacy Leakage from LLM Agents with Information Flow Control Authors: Minsun Shim, Ramisha Raida Karim, Ruthwik Jakkula, Kaiwen Zhou, Xin Liu, Xin Eric Wang, Zhou Li Published: 2026-09-12 Categories: cs.CR, cs.AI arXiv: https://arxiv.org/abs/2609.14003v1 Personal AI agents built on large language models (LLMs) are increasingly given access to a user's private data and communications in order to provide personalized assistance. This access creates a persistent privacy risk: the agent must decide whether a given sensitive information should be disclosed to a particular party. Existing defenses address this by making the agent's backend LLM more privacy-preserving through stronger system prompts, training, or explicit consent-checking procedures, but this approach has a structural challenge: whenever enforcement is a judgment the LLM makes over the same conversational context an adversary controls, the enforcement mechanism and the attack surface coincide. We demonstrate this against existing defenses with three new attacks that require only ordinary agent interaction and no prompt injection: Collaborative Workspace Lure reframes an extraction attempt as collaborative work; Semantic Obfuscation Attack induces disclosure through omission rather than through anything the agent writes; and Channel Decoupling Attack splits the extraction request and the disclosure across independent channels. All three achieve substantially higher leak rates than the attacks these defenses were originally designed to withstand. Guided by this observation, we present FLOWSEAL, a defense that enforces confidentiality through a tool-level interceptor outside the LLM's context, grounded in data provenance and an information-flow-control lattice with controlled declassification. Evaluated across three benchmarks, five prompt-based baselines, and eight attacks, including a real agent executing live tool calls through MCP, FLOWSEAL reduces leak rates to near zero (e.g., 52.2% to 0.5% against Collaborative Workspace Lure) while preserving task utility, regardless of the underlying LLM backend. --- ### Unlocking the Unsolvable: Teacher-Guided Curriculum for Data-Efficient RLVR Authors: Yukang Zhu, Zhen Han Published: 2026-09-12 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.13997v1 Reinforcement Learning with Verifiable Rewards (RLVR) has shown remarkable success in improving the mathematical reasoning of large language models. Yet problems beyond the model's current capability, where rollouts uniformly fail and no learning signal is produced, are structurally wasted despite marking the most informative training frontier. We show that these otherwise-inert problems can be unlocked via teacher-guided curriculum learning: partial reasoning traces from a stronger model create a graded difficulty landscape, and a backward-chaining curriculum progressively withdraws guidance until the model solves problems unaided. Training on only 128 unsolvable problems matches or exceeds GRPO trained on a full 2,000-problem corpus (~16x data efficiency) on the nine-benchmark average for both base models, while substantially expanding the reasoning boundary measured by pass@k at large k. Furthermore, we identify a distribution-shift cost that is particularly acute in the unsolvable-only regime and propose Monotone Frontier Curriculum (MFC), a method that monotonically drives training toward unguided solving, consistently outperforming existing curriculum methods. --- ### Synthetic Data in Marketing Research: How to Evaluate and When to Trust Authors: Oded Netzer, Rajan Sambandam Published: 2026-09-12 Categories: cs.AI arXiv: https://arxiv.org/abs/2609.13995v2 Debate over synthetic data in marketing research has polarized between claims that large language models (LLMs) make human respondents obsolete and calls to avoid them entirely. We argue that both positions obscure the more useful question: not whether synthetic respondents work, but when. Building on Brand, Israeli, and Ngwe (2026), we make three contributions. First, we distinguish three types of synthetic data (ungrounded LLM responses, segment-level personas, and individual-level digital twins) and map each to the decisions it can support. Second, we develop a taxonomy of four families of accuracy measures and suggest that the wide range of reported twin accuracy, from near-perfect to near-chance, largely reflects differences in what is being measured rather than in method quality. Aggregate measures often perform well even when little information is supplied to the LLM, and can mask a complete absence of respondent-level differentiation. Third, we introduce the forgotten question problem, in which a question is omitted from a fielded study, as a setting for twin-based augmentation of existing data. We propose an ex-ante answerability diagnostic that requires no ground truth: the R^2 of a random forest predicting twin outputs from the data used to construct the twins. Across 108 attitude questions from a nationally representative survey (N = 3,063), screening at R^2 above 0.7 raises the mean twin-human individual-level correlation by 15% and reduces the share of poorly answered questions from 25.9% to 4.3%. Embedding similarity and experienced-researcher judgment provide correlated but weaker screens. --- ### Mind2Cloud: EEG-to-Point Cloud Generation with Two-Granularity Diffusion Decoding Authors: Yongyi Lu, Xiongfeng Huang, Zhijing Yang Published: 2026-09-12 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.13991v1 Reconstructing 3D objects from brain signals offers a promising avenue for understanding human visual cognition. While prior work has shown initial success using EEG signals for 3D reconstruction, existing methods typically employ a uniform diffusion decoder, overlooking the evolving semantic granularity of both EEG representations and the diffusion denoising process. In this paper, we propose Mind2Cloud, a novel EEG-to-point-cloud generation framework based on two-granularity diffusion decoding. The core of Mind2Cloud is a time-aware decoder that integrates a global Transformer branch and a local Point-Voxel CNN (PVCNN) branch across diffusion timesteps through a learnable fusion mask. Specifically, Transformer layers are incorporated into the early upsampling stages to capture global object structure under high uncertainty, while PVCNN modules are used in later stages to refine local geometric details. Inspired by the hierarchical nature of EEG-based visual representations, this design dynamically adapts its spatial granularity in accordance with the coarse-to-fine trajectory of diffusion denoising. We further introduce an adversarial refinement module to enhance geometric realism and semantic consistency. Extensive experiments on the EEG-3D dataset across all 12 subjects demonstrate that Mind2Cloud outperforms prior work in both geometric accuracy and semantic alignment, setting a new benchmark for EEG-to-point-cloud generation. Our source code is available at https://github.com/duasoi/Mind2Cloud. --- ### Diffusion-Based Multiple-Shooting Indirect Optimal Control for Fuel-Optimal Spacecraft Trajectory Generation Authors: Saeid Tafazzol, Ehsan Taheri, Ryne Beeson Published: 2026-09-12 Categories: eess.SY, cs.LG arXiv: https://arxiv.org/abs/2609.13990v1 Diffusion-based generative models (DMs) have found applications in control problems, and in particular robotics, where the DMs enable exploration of possible control solutions. A critical shortcoming of these applications is that they have lacked optimality guarantees. This is a problem for their potential use in fuel-optimal spacecraft trajectories that are characterized with long time-horizons and bang-bang profiles. Alternatively, indirect optimal control methods ensure explicit satisfaction of necessary conditions, but are highly sensitive to the initial costate estimation needed to solve the resulting Hamiltonian boundary-value problems (HBVPs). To alleviate this sensitivity and enlarge the convergence domain of HBVPs, advanced indirect methods have been developed that use smoothing approaches and continuation. We propose a diffusion-based multiple shooting indirect control method that combines the exploration capability of DMs with indirect method to generate fuel-optimal spacecraft trajectories. We benchmark our method against an advanced indirect method on a fuel-optimal Earth-Mars low-thrust transfer problem, showing higher convergence robustness than the advanced indirect method that is based on random costate initialization. Code and visualizations are available at https://saeidtafazzol.github.io/Diffusion_Indirect_Control/. --- ### What Makes an Efficient VLA? Navigating Action-Head Design, Scaling, and Latency Authors: Luoyang Sun, Guoyang Xia, Fengfa Li, Lei Ren, Xinyu Cui, Haifeng Zhang, Fangxiang Feng, Kaike Zhang, Kun Zhan, Yan Xie, Jun Wang, Cheng Deng Published: 2026-09-12 Categories: cs.RO, cs.CV arXiv: https://arxiv.org/abs/2609.13984v2 Vision-Language-Action (VLA) models combine a pretrained vision encoder, a language backbone, and an action head, but their relative contribution has not been established under controlled, latency-paired conditions. We fix the backbone families (SigLIP2 and Qwen2.5) and the training pipeline, sweep action-head design and module scale, and pair each configuration with measured on-device latency. The study yields three findings. First, action-head performance is governed primarily by initialization rather than decoder architecture, loss, or inference budget: copying the last transformer layers of the language backbone into the head is the single largest lever, at no latency cost, and the only axis that helps at every module scale. Alignment also explains the other axes: flow matching and a heavier decoder pay off only while the head is misaligned and reverse once it is aligned, and extra inference passes give no measurable benefit; expressiveness appears to substitute for missing alignment. We read this as representation transfer: the aligned head keeps attending to the instruction's object nouns and stays close to the backbone in weight space rather than relearning to act from scratch. Because we reach alignment only through initialization, we offer this as the account that best organizes the measurements, not a demonstrated cause, and name the control that would settle it. Second, capacity pays only after alignment: the aligned action head is the highest-return module to scale. Third, those returns diminish sharply near the size today's $π$-series VLAs already use, so further growth buys little in-domain accuracy for its latency. These specify EffVLA, a compact model matching the strongest open-source VLAs on standard LIBERO, leading on most LIBERO-Plus perturbation axes at lower latency, and transferring to a real SO-ARM101 arm with the recipe unchanged. --- ### Rethinking the Implications of Human Feedback for Preference Learning in Human-Robot Collaboration Authors: Qiping Zhang, Kate Candon, Debasmita Ghose, Marynel Vázquez Published: 2026-09-12 Categories: cs.RO, cs.AI, cs.HC arXiv: https://arxiv.org/abs/2609.13982v1 In Human-Robot Interaction, the standard approach to learn a reward model that represents human preferences for robot behavior consists of three steps. First, the robot collects limited direct evidence from human feedback (e.g., positive or negative binary feedback). Then, the robot utilizes the direct evidence to derive accepted or rejected labels to feasible but unchosen actions using fixed implication rules. Finally, the robot updates the reward model with both the direct and derived evidence. Unfortunately, the fixed rule can hinder preference learning: in a user study with two collaborative simulation environments, human-provided implication labels often differed from the standard fixed rule, and using the human labels substantially improved reward learning with the Preference Learning from Implicit and Explicit Feedback (PIE) algorithm. Consequently, we propose IMPLIED, an implication modeling method that treats fixed-rule implications as an initial guide while learning to infer and revise accepted and rejected action labels over time. Across evaluations on recorded human-robot interaction trajectories and a physical robot pizza-making study, IMPLIED predicts human implications more accurately than the fixed rule approach and LLM baselines, approaching the performance of a human-label oracle. In turn, IMPLIED reduces preference-estimation error and leads to robot actions that are more often rational with respect to a combined reward (which includes the true preference reward and a task-specific reward) compared to baselines. By learning to reason about the implications of human feedback, this work enables more faithful and efficient robot behavior adaptation during human-robot collaboration. --- ### Mizan: A National Benchmark for Evaluating Large Language Models on Iraqi Arabic and the Iraqi Civic Context Authors: Nawar S. Alseelawi, Mustafa S. Aljumaily Published: 2026-09-12 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2609.13980v1 Arabic large-language-model (LLM) evaluation has matured around Modern Standard Arabic (MSA): aggregated leaderboards such as the Open Arabic LLM Leaderboard (OALL), HELM Arabic, and BALSAM rank models across dozens of MSA tasks, and frontier systems increasingly saturate them. Dialectal Arabic, the language Iraqis actually speak, remains nearly invisible to this infrastructure. We introduce Mizan ("the balance"), Iraq's national benchmark for evaluating LLMs on Iraqi Arabic and the Iraqi civic context: an MSA baseline track paired with an Iraqi track across six axes (dialect comprehension, dialect generation, bidirectional MSA-Iraqi translation, Iraq-specific knowledge, official-document field extraction, and safety), built from 340 originally authored, dually reviewed items with statistically audited answer positions and Wilson intervals on every published score. A pilot evaluation of 27 systems, spanning closed frontier models three days after release, open weights across size tiers, and an Arabic trio of commercial, open-specialized, and sovereign systems, yields four findings. The MSA track saturates while the Iraqi track discriminates, with a consistent 14-18-point per-model gap and statistically tied leaders. Official-document extraction confines every system to 32-56. Arabic-focused specialization behaves as MSA specialization: two dedicated Arabic models score below a size-matched generalist on the Iraqi track. And the safety-hardened tier of the newest model family deterministically refuses innocuous dialect-comprehension items as policy violations, an over-refusal mode invisible to MSA benchmarks. The platform enforces an integrity protocol of immutable snapshots, verification certificates, a human publication gate, and public retraction, all exercised during this study. Code and the public development set accompany the paper. --- ### Introspective Uncertainty Estimation for LLM-Based Code Generation Authors: Thomas Klassert Published: 2026-09-12 Categories: cs.SE, cs.LG arXiv: https://arxiv.org/abs/2609.13975v1 Large Language Models (LLMs) are increasingly used for code generation but can produce fluent yet functionally incorrect outputs, which limits trust in their usage for practical software engineering workflows. This thesis investigates whether Introspective Uncertainty Estimation (IUE), based on internal hidden-state representations of LLMs, can reliably indicate correctness at the response and line levels for code generation tasks. The objective is to determine the extent to which hidden states encode information about functional code correctness and how this can be leveraged for practical risk assessment and fault localization. Methodologically, this thesis combines response-level evaluation on LiveCodeBench (LCB) and BigCodeBench (BCB) with an augmentation pipeline that derives token- and line-level labels from incorrect programs. In this setup, it compares static and dynamic response-level features, evaluates generalization across tasks, programming domains, and token positions, and studies line-level fault localization. The results show that hidden states contain a strong response-level correctness signal. Static single-token probes perform best, while more elaborate dynamic strategies yield no consistent gains. While generalization across tasks, domains, and token positions is feasible, setting-dependent degradation largely remains for real-world software projects. At a fine granularity, line-level prediction is substantially harder than response-level estimation. However, in a conditional localization setup with known-incorrect programs, Top-K point-of-failure ranking remains effective. Overall, the findings suggest that hidden states are a robust and informative resource for estimating functional code correctness, supporting a two-stage workflow that combines response-level risk screening with targeted line-level prioritization. --- ### Zero-Shot Cross-Material Ptychographic Phase Reconstruction Using Deep Learning Authors: Wen-Chun Lin, Yu-Chee Tseng, Jen-Jee Chen, Nan-You Chen Published: 2026-09-12 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.13969v2 Ptychographic phase reconstruction is commonly formulated as an iterative inverse problem, requiring repeated object-probe updates and resulting in substantial computational cost for large-scale 4D-STEM data. We present a direct local-to-global learning framework that reconstructs full-field phase maps from diffraction measurements without iterative refinement during inference. The proposed network predicts local wrapped-phase patches from individual diffraction patterns using a sine-cosine representation, and the predictions are assembled into a full-field reconstruction using calibrated scan positions and Gaussian-weighted stitching. To evaluate generalization beyond the training domain, the model is trained on one material and directly applied to another in a zero-shot setting without target-domain fine-tuning. Experiments on AuPd and MoS$_2$ demonstrate consistent cross-material transfer in both directions, with the proposed method achieving the best full-field MSE, PSNR, and MS-SSIM among the evaluated learning-based methods. Compared with the iterative ePIE approach, the proposed direct local-to-global pipeline reduces end-to-end reconstruction time by approximately 10x, demonstrating its potential for efficient and transferable ptychographic reconstruction. --- ### SGWIB:Sliced Gromov-Wasserstein Information Bottleneck for Video Highlight Detection Authors: Hanjuan Huang, Yung-Chieh Yeh, Hsing-Kuo Pao Published: 2026-09-12 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2609.13966v1 Video highlight detection aims to identify temporally important segments that capture the most informative or engaging events in a video. Reliable prediction therefore requires not only discriminative segment representations but also preservation of the temporal relationships among neighboring and distant segments. The information bottleneck principle has proven effective for learning compact and task-relevant representations, yet it has not been explored for video highlight detection, and applying conventional formulations directly would overlook inter-segment relational structure and distort highlight relevant temporal organization during compression. We therefore introduce the Sliced Gromov-Monge Gap (SGMG), a structure aware regularizer that measures the excess relational distortion induced by a prescribed source-to-bottleneck mapping relative to an optimal sliced structural correspondence. Building on SGMG, we develop SGWIB, an information-bottleneck framework for single-modal video highlight detection that learns compact bottleneck representations while preserving inter-segment temporal structure. We further introduce Home-Away-Related Contextual Pseudo-Labels and a contextual disentanglement module that reduce sports-specific contextual bias by separating highlight oriented information from contextual patterns. Experiments on MrHiSum and MoSu show that SGWIB attains the best Kendall's tau, Spearman's rho, mAP@50, and mAP@30 among the compared single-modal methods on both datasets. On MrHiSum, the visual model improves the strongest previous results by 0.031, 0.031, 0.87, and 0.75 on these four metrics, respectively. These results show that structure-aware information-bottleneck regularization combined with contextual disentanglement improves segment-level highlight prediction. --- ### Tabby: An Open Pretraining Recipe for Time Series Foundation Models Authors: Shifeng Xie, Bahaeddine Abdessalem, Zehao Xiao, Youssef Attia El Hili, Ambroise Odonnat, Zhiwei Dong, Lei Zan, Themis Palpanas, Jianfeng Zhang, Lujia Pan, Keli Zhang, Malik Tiomoko Published: 2026-09-12 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.13956v2 In this report, we release Tabby, a long context probabilistic time series foundation model, together with a complete and open recipe of how it was built. Tabby adopts an encoder-only patch Transformer architecture and concentrates the contributions on the data and the training procedure. The pretraining corpus combines an extended real-world collection, GIFT-Eval-Pretrain+ and BLAST, with synthetic data from KernelSynth and CauKerV2, an online generator that composes temporal dynamics through randomly sampled structural causal models. Training couples a progressive convergence schedule, which yields reusable intermediate checkpoints, with a deep quantile supervision objective for intermediate layers. The resulting 145M parameter backbone supports contexts of up to 8,192 observations and serves forecasting, classification, and anomaly detection, while a prompt-tuning module further improves in-distribution forecasting performance with the pretrained weights frozen. Tabby achieves competitive zero-shot forecasting performance on GIFT-Eval and the out-of-distribution TIME benchmark, while the same pretrained backbone also supports classification on the UCR Archive and zero-shot anomaly detection on TSB-AD-U. We release training pipeline and model as open source at huawei-noah/trustworthyAI. --- ### Linear Ensemble Sampling with Smaller Ensembles Authors: Taehyun Hwang, Min-hwan Oh Published: 2026-09-12 Categories: cs.LG, stat.ML arXiv: https://arxiv.org/abs/2609.13954v1 Ensemble sampling offers a practical approach to randomized exploration by maintaining a collection of models, but how small an ensemble can be while retaining strong regret guarantees remains unresolved. In particular, the existing guarantees use an ensemble size of $Θ(d\log T)$, leaving a logarithmic gap in the horizon $T$ relative to the intrinsic $Ω(d)$ ensemble-size barrier. We aim to narrow this gap by proposing an ensemble sampling algorithm that refreshes the ensemble only when the regularized Gram matrix changes substantially. This mechanism localizes the perturbation analysis to epochs with controlled Gram-matrix drift and reduces the sufficient ensemble size to $Θ(d\log d+d\log\log T)$, while preserving the state-of-the-art $\tilde O(d^{3/2}\sqrt T)$ regret for ensemble sampling with arbitrary bounded arm sets. We further show that, when the arm set is finite of cardinality $K$, the proposed algorithm achieves the sharper regret bound $\tilde O(d\sqrt{T\log K})$. To the best of our knowledge, this is the first ensemble-sampling guarantee that simultaneously recovers both canonical regret scalings known for randomized linear bandit algorithms: the $\tilde O(d^{3/2}\sqrt{T})$ rate for arbitrary bounded arm sets and the $\tilde O (d\sqrt{T\log K})$ rate for finite arm sets. The algorithm also admits an anytime implementation without resetting past data, and experiments show that it remains competitive with baselines while using substantially smaller ensembles. --- ### Thought without systematicity? Evaluating reasoning models on rule induction tasks Authors: Simon Schug, Brenden M. Lake Published: 2026-09-12 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2609.13948v1 A central tenet of human cognition is systematicity, the principle that understanding one concept is inherently tied to understanding close variations of that concept. Do reasoning models robustly exhibit such systematicity? If so, we would expect consistent performance on structurally equivalent variants of the same task. Here, we extend established rule induction tasks from cognitive science to assess the systematicity of thought in current reasoning models. Each task family has compositional structure that we use to create structurally equivalent task variations through task isomorphisms such as recombination and substitution. We find that despite being able to correctly solve a task, models often fail on structurally equivalent variants of the same task. These findings suggest that many model behaviors lack systematicity, rendering it difficult to robustly establish the cognitive abilities of reasoning models beyond the particular contexts they were evaluated in. --- ### Hardware-Aware Learned Representation Compression for Distributed In-Sensor Vision Authors: Chengwei Zhou, Abu Masum, Xuming Chen, Mehran Moghadam, Sreetama Sarkar, Arnab Sanyal, Md Abdullah-Al Kaiser, M. Hassan Najafi, Sercan Aygun, Gourav Datta Published: 2026-09-12 Categories: cs.LG, cs.AI, cs.AR arXiv: https://arxiv.org/abs/2609.13947v1 In-sensor computing reduces the cost of transmitting high-resolution image data by performing early-stage processing near the sensor. However, the logic chip integrated with a CMOS image sensor (CIS) is tightly constrained in compute and memory, limiting conventional deep neural network partitioning. We present OASIS, a distributed in-sensor vision framework that uses a lightweight encoder to generate compact, task-relevant representations before off-chip transmission. The encoder is trained end-to-end using task, entropy, and reconstruction objectives, while the decoder is used only during training. OASIS supports two complementary deployment paths. The first applies 4-bit quantization and Huffman coding while preserving the spatial structure required by classification and dense-prediction tasks. The second uses Sobol-based hyperdimensional computing (HDC) to transform the encoder latent into a fixed-dimensional binary hypervector for associative-memory classification. For the SwinViT-based VWW model, mapping a $3\times3\times8$ latent to a 64-dimensional hypervector provides an additional $1.77\times$ communication reduction with less than one percentage point of accuracy loss relative to the 128-dimensional configuration, yielding an overall $18{,}816\times$ reduction compared with raw 8-bit image transmission. We implement the digital near-sensor pipeline on an AMD Xilinx Zynq UltraScale+ FPGA and characterize it using direct board-level power measurements and Vivado post-implementation analysis, together with circuit-simulated CIS models and a 7-nm ASIC projection. Across visual wake-word classification, hand tracking, and eye tracking, OASIS reduces total system energy by approximately $2\times$-$4.5\times$ while maintaining competitive accuracy, demonstrating a practical hardware-algorithm co-design path for communication-efficient in-sensor vision. --- ### SAILOR: Solver-Assisted Interactive LLM-based Optimization Recovery Authors: Shaghayegh Sadeghi, Stephen L. Smith, David C. Del Rey Fern'andez Published: 2026-09-12 Categories: cs.AI arXiv: https://arxiv.org/abs/2609.13945v1 Natural-language descriptions of optimization problems may be incomplete or vague about numerical information that a solver requires, including costs, capacities, demands, bounds, and penalties. A language model can translate the description into code, but when a required value is absent it must either stop or guess. We present SAILOR, a proof-of-concept system that detects such unsupported numerical choices, asks the user targeted follow-up questions, and updates the optimization model before returning a solution. Questions are prioritized using uncertainty and solver-derived estimates of how strongly each missing value affects the current model. We evaluate the pipeline on 1,723 instances from seven masked benchmarks using an idealized simulator that returns ground-truth values. Exact objective-value agreement ranges from 27.0% to 87.6% across datasets, with 1.4--5.7 questions per instance on average. These results establish feasibility under controlled branch-and-reveal feedback; they do not measure performance with human users or general structural model repair. Code is available at: https://github.com/sshaghayeghs/SAILOR. --- ### CRITICS - Critical Science Without Borders: Language Models to Promote Critical Thinking in Science Education Authors: Rodrigo Agerri, Itziar Aldabe, Elena Cabrio, Mark Cieliebak, Jan Deriu, Mariana Flores, Jurgita Kapociute-Dzikiene, Dovile Kuiziniene, Arantza Rico, Aritz Ruiz-Gonzalez, Aitor Soroa, Mantas Vaskevicius et al. Published: 2026-09-12 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2609.13942v1 The CRITICS project addresses science accessibility and literacy by converging advanced Machine Translation (MT) based on Large Language Models (LLMs) with educational technology. By leveraging MT systems specifically optimized for scientific content, educational institutions can provide accurate, culturally relevant translations of scientific materials in students' native languages, ensuring that complex scientific concepts are comprehensible while maintaining technical accuracy. Building on these translations, the project explores the design and evaluation of innovative science teaching-learning proposals grounded in curriculum-aligned teaching-learning. Thus, CRITICS will investigate key components of scientific argumentation and critical thinking practices together with textual feedback aligned with learning objectives and assessment criteria inspired by competence-based evaluation frameworks. CRITICS aims to break down language barriers to accessing cutting-edge research and educational materials currently available only in high-resourced languages, thereby facilitating the democratization of scientific knowledge and fostering critical thinking in science education. --- ### BLInD: Learning Driver Intent as a Distribution over Future Ego Trajectories Authors: Flavian Pegado, Ronit Hire, Shreyas Rajesh, Soham Phade Published: 2026-09-12 Categories: cs.CV, cs.RO arXiv: https://arxiv.org/abs/2609.13941v1 We present BLInD (Blind Learned Intent Distribution), a compact network that maps recent vehicle-state history (e.g. speed, curvature, indicator, and vehicle type) to a top-k distribution of future ego trajectories, with no camera, LiDAR, map, or object-track inputs. We find that vehiclestate history alone is sufficient to learn a useful multimodal distribution over near-term ego trajectories, and its low-latency nature makes it well-suited for safety-critical deployment. We investigate two distribution architectures, autoregressive (AR) and flow-matching, and train on both mixed-platform opensource and Wayve datasets. Both generalize without datasetspecific adaptation; the flow-matching model achieves best topk ADE/FDE of 0.15/0.37 m on Wayve, 0.15/0.36 m on Waymo, and 0.28/0.59 m on nuScenes, with the AR model reaching comparable coverage. Integrating the distributions into an AEB trigger task, a strict all-candidates policy reduces false positives from 1.51% to 0.11% with AR (13.7x reduction, 94.9% TP) and to 0.06% with flow-matching (25.1x reduction, 98.7% TP) compared to a 1-CTRV policy with 100% true positive score. BLInD runs in 0.87 ms with the AR head and 2.9 ms with the flow-matching head on an NVIDIA DRIVE Orin ECU making it compatible with real-time deployment on automotive ECUs. While existing learned distribution models rely on scene context and blind vehicle-state models typically collapse to a single path, BLInD is learned, blind, and cross-domain simultaneously, a combination not demonstrated by prior work. These results show that such a distribution provides a controllable and plausible intent sampling interface for downstream systems, with AEB as one instantiation. --- ### Optimal Transport for Efficient, Unsupervised Anomaly Detection on Industrial Data Authors: Abigail Langbridge, Fearghal O'Donncha, James T Rayfield, Bradley Eck Published: 2026-09-12 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.13940v1 Effective anomaly detection frameworks are a central pillar of the Industry 4.0 paradigm. In this paper, we introduce an Optimal Transport (OT)-based framework for anomaly detection, designed to detect deviations from normal behaviour in time-series sensor data. The OT-based method requires minimal user input and adapts to real-time data without the need for labelled training data. Our method effectively addresses existing limitations related to data labelling, generalisability, and scalability, demonstrating resilience against short-term fluctuations, noise, and data gaps - common challenges in industrial environments. Additionally, our method provides counterfactual explanations improving the auditability of the approach when deployed in industrial settings. The proposed method learns the mapping between normal and observed operating conditions through a sliding reference window that adapts to the dynamicity of the data. We evaluate our approach on three industrial datasets, from shipping, industrial HVAC systems, and publicly available benchmark data. The method was highly effective in identifying anomalies and reducing false positives, outperforming traditional methods, while maintaining computational efficiency and ease of configuration. --- ### Inter-Rater Reliability of LLM and Rule-Based Annotation for Inferential Narrative Features: Three Studies on a Turkish Corpus Authors: Levent Bulut Published: 2026-09-12 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.13936v1 Datasets that ship automatically generated feature annotations invite a question rarely asked of them: would a human agree with those labels? This report answers that for the Objective Projection corpus, a Turkish narrative dataset whose scenes carry a per-scene applied_rules field from a rule-based detector over six craft features -- two prohibitions (emotion labelling, simile) and four positive techniques (materialized metaphor, micro-focus, temporal anchor, atmosphere contradiction). Three studies are reported. Study 1 ($n = 120$) scores the detector against blind labels from the scheme's own author. Study 2 ($n = 100$, a disjoint scene set) scores the detector plus Gemini 2.5 Flash and Grok against an independent non-expert rater whose labels were locked before any machine ran. Study 2b re-runs the identical protocol with Claude Fable 5 (High) and ChatGPT 5.5. The central result concerns one rule. On materialized metaphor -- closest to the methodology's theoretical core -- the five machine labellers returned positive rates of $0$, $1$, $40$, $72$ and $78$ out of $100$ scenes, against a human count of $9$. Cohen's $κ$ was at or indistinguishable from chance for five of six labellers, across both human references and both scene sets: $0.004$, $0.015$, $0.000$, $0.019$, $0.027$. Raw agreement ranged from $74.7\%$ to $84.5\%$, an artefact of class imbalance rather than a sign of competence. We deliberately do not resolve this into a single story. Two readings survive: the feature is genuinely inferential and beyond current automatic detection, or the rule's definition is not yet operational enough for any rater to apply consistently -- including the human. Distinguishing them needs a second independent human rater, which this report does not have and therefore does not claim. --- ### Exploring napping paradigm for Recurrent Spiking Neural Networks Authors: Andreas Massey, Stefano Nichele, Aliaksandr Hubin Published: 2026-09-12 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.13927v1 Biological organisms minimize free energy by balancing two competing demands on their internal world model: it must be accurate enough to predict sensory input, yet simple enough to generalize beyond it. Two mechanisms regulate this balance offline: sleep reduces complexity through gradual synaptic downscaling, while stochastic noise attenuates precision, relaxing the constraint sensory input imposes on synaptic reorganization. Engineered Spiking Neural Networks (SNNs) leave this balance unaddressed, favoring instantaneous, noiseless weight normalization instead. This paper investigates the hypothesis that a biologically inspired micro-sleep paradigm, napping -- combining proportional weight scaling with continuous stochastic membrane activity -- can replicate the stability of normalization while shedding model complexity. We evaluate this in an unsupervised recurrent SNN trained via trace-based spike-timing-dependent plasticity (STDP) on Gabor-preprocessed MNIST. We tune napping across three regularization regimes by sweeping its duration and membrane noise level, then compare the best configuration against weight normalization. Across all three regimes, well-tuned napping matches the accuracy of normalization: accuracy peaks at brief durations and low noise, then declines monotonically as either grows. Clustering diverges, with the strongest geometric separation arising at longer durations and higher noise -- the two terms of free energy pulling apart, accuracy rewarding data fit and structure rewarding the simpler representation that gradual, noisy downscaling induces. This gain carries a simulation cost normalization avoids, so napping is most compelling where representational structure, rather than raw classification efficiency, is the priority. --- ### Equilibrium bias and convergence in augmented primal--dual dynamics with sampled constraints Authors: Kang Liu, Mengxiao Chen, Siqi Xiong, Yi Xia Published: 2026-09-12 Categories: math.OC, cs.LG, stat.ML arXiv: https://arxiv.org/abs/2609.13925v1 This work studies the stability and convergence of augmented primal-dual dynamics when constraint values are estimated from samples. Unbiased constraint observations can produce a biased augmented multiplier signal, shifting the equilibria of the mean dynamics. For componentwise inequalities, we give a necessary and sufficient condition for preserving the Karush-Kuhn-Tucker (KKT) equilibria and construct a convex example with a locally exponentially stable equilibrium that violates complementarity. To address this bias, constraint values are estimated recursively before forming the augmented multiplier signal. For smooth convex conic problems, a joint energy analysis establishes boundedness of the primal, dual, and estimation states, vanishing estimation error, and almost sure convergence of the primal-dual iterates to a single KKT point under global regularity and bounded conditional second moments. The result allows nonunique solutions and multipliers while keeping the number of samples per iteration fixed. Numerical studies illustrate the predicted equilibrium bias and examine convergence with nonunique KKT points and nonlinear constraints. --- ### Minibatch persistency, eight years later: what batch reuse costs in steps and joules, and what it saves in data Authors: Matteo Fischetti Published: 2026-09-12 Categories: cs.LG, cs.DC arXiv: https://arxiv.org/abs/2609.13922v1 Minibatch persistency reuses data instead of reading it: rather than drawing a fresh minibatch at every optimizer step, it takes K consecutive steps on the same one. Absorbed into data echoing in 2019, it has carried one objection -- that reuse merely imitates a larger learning rate -- and no baseline tuned as carefully as the method itself. This paper runs the missing test. A pre-registered study trains a 49M-parameter Transformer on FineWeb-Edu at minibatch size B in {32, 128, 512}, 8 seeds per cell, tuning the learning rate separately for every batch size and every arm, against a reuse-free control that changes the sampling and nothing else. Each headline claim is a cost to reach a fixed loss, read on four axes: optimizer steps, fresh tokens, seconds, and joules at the socket. We then replicate on new seeds and a newer GPU generation, and put the three arms on one schedule in steps. The outcome of our study is that what minibatch reuse buys is neither speed nor energy but data, and only at large minibatch size: at B = 32 it reads more fresh tokens than the baseline, not fewer. On steps, seconds and joules it is at best free; and at B = 512, where it looks best, a registered control cannot separate the effect of reuse from the position on the learning-rate schedule at n = 8 seeds. The technique is therefore worth using where fresh data rather than compute is the binding cost: a corpus that runs out, a pipeline that pays per sample, a stream that cannot be rewound. Where the data can simply be read again, spaced epochs do as well or better. --- ### Finite-Time Node Separation in Recurrent Graph Neural Networks with Persistent Gaussian Perturbations Authors: Mostafa Haghir Chehreghani Published: 2026-09-12 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2609.13920v1 Persistent Gaussian perturbations have been shown to prevent asymptotic oversmoothing in recurrent Graph Neural Networks (GNNs) by ensuring a positive stationary Dirichlet energy. However, this global energy bound does not guarantee that individual node representations remain distinct at finite depths. In this paper, we provide a complementary finite-time analysis of the same persistent-noise architecture. Let \(d\) denote the representation dimension and \(σ\) the noise standard deviation. We first prove an exact second-moment decomposition for the expected squared distance between any two node representations, yielding the universal lower bound \(2σ^2 d\) at every positive time step without contraction or stationarity assumptions. More precisely, conditional pairwise distances have a noncentral chi-square characterization: the noncentrality parameter is the deterministic message-passing separation normalized by \(2σ^2\). This yields dynamics-aware fixed-time and finite-horizon near-collision bounds that retain information discarded by the central worst-case analysis. The earlier central Gaussian bound is recovered as the worst-case zero-separation case. We additionally prove almost-sure pairwise noncollision, derive a uniform finite-horizon guarantee, and establish permutation equivariance in distribution for the stochastic dynamics and permutation-invariant graph outputs. Our results complement the asymptotic energy analysis of prior work and provide rigorous finite-time guarantees on node-level representation separation. --- ### Machine Learning in Fish Farming Authors: Fearghal O'Donncha, Nikos Papandroulakis, Jennie Korus, Abigail Langbridge, Alexander Timms, Konstantinos Topouzelis, Abdul Baseer Khan, Shree Rama Kamal Kumar Vegu, Mahtab Sarvmaili, Ryan Mowat, Rhanna Turberville, Tyler Sclodnick et al. Published: 2026-09-12 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.13919v1 This chapter explores how machine learning (ML) is transforming aquaculture, with a particular focus on enhancing decision-making processes and improving operational efficiency. The chapter is structured to first introduce the challenges in aquaculture and the role of AI and then provide an overview of ML techniques in the context of aquaculture, followed by applications, emerging trends, future directions, and case studies. The focus is on real-world applications of ML techniques, including Random Forest, Convolutional Neural Networks (CNNs), and Recurrent Neural Networks (RNNs), as well as emerging technologies such as Graph Neural Networks (GNNs) and large language models (LLMs). Key applications include biomass estimation, species recognition, behavioural analysis, and environmental forecasting. The chapter also highlights the synergy between ML and the Internet of Things (IoT) for real-time monitoring and decision support. Ultimately, ML-driven innovations have the potential to revolutionise fish farming, leading to more efficient, sustainable, and productive practices in the aquaculture industry. --- ### LoRA Fine-Tuned Models for Control Systems Course Q\&A: A Multidimensional Evaluation of Model Scale and Rank Effects Authors: Shaowen Lu, Chengxu Liu, Ping Zhou, Tao Yang Published: 2026-09-12 Categories: cs.AI, eess.SY arXiv: https://arxiv.org/abs/2609.13918v1 Large language models (LLMs) are increasingly used in specialized university courses, but control-systems questions require coordinated terminology, notation, derivations, and stepwise explanations. Direct general-purpose responses may be inconsistently structured and hard to verify. Using exercises and reference solutions from a Linear Control Systems course, we built a supervised fine-tuning dataset of 360 system-user-assistant conversations. We applied LoRA to Qwen2.5-3B-Instruct and Qwen2.5-7B-Instruct. With identical data splits, inference settings, and evaluation protocols, we compared base and fine-tuned models and tested LoRA ranks r=4, 8, and 16. Evaluation used ROUGE, BERTScore, and structured-output features to measure reference-answer similarity and stability of the Solution-Method-Teaching Points format. LoRA improved both similarity and structured-output stability at both sizes. On the current test set, 7B-r16 achieved the highest ROUGE-L (0.4093) and BERTScore-F1 (0.8643), while r=8 offered a better balance between performance and parameter efficiency. Bootstrap resampling showed ROUGE-L gains of 0.0764 (0.0613, 0.0915) for 3B-r16 and 0.0874 (0.0687, 0.1042) for 7B-r16; both intervals exceeded zero, indicating stable textual-similarity improvements on the current test set. These results suggest LoRA can align open-source instruction-tuned models more closely with the language and pedagogical organization of course reference answers. However, the metrics mainly capture textual similarity and formatting consistency, not domain-specific reasoning or mathematical correctness, which require expert assessment and task-specific rubrics. --- ### Learning Through Energy Refinement and Manifold Projection: A Cooperative EBM-AE Framework Authors: Ryad Zemouri Published: 2026-09-12 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.13917v1 Energy-Based Models (EBMs) provide a flexible framework for generative modeling by learning an energy landscape that assigns low energy values to realistic samples and higher energies to unlikely observations. Despite their theoretical appeal, training EBMs remains challenging due to the computational cost of Langevin sampling and the difficulty of efficiently exploring the learned data manifold. In this work, we propose a cooperative Energy-Based Model and Autoencoder (EBM-AE) framework that combines energy-based refinement with manifold projection. The proposed approach jointly trains an EBM with a denoising autoencoder and introduces an iterative EBM$\rightarrow$AE$\rightarrow$EBM sampling procedure in which Langevin dynamics and autoencoder projection alternately refine generated samples. Within this framework, the autoencoder acts as a manifold projection operator that regularizes sampling trajectories, while the EBM performs energy-based refinement toward low-energy regions of the learned distribution. Extensive experiments conducted on the MNIST dataset demonstrate that joint EBM-AE training substantially improves generation quality compared with a conventional autoencoder. Beyond unconditional generation, we evaluate the proposed framework on image inpainting tasks involving structured and random masks. The results show that manifold projection provides the majority of the reconstruction capability, whereas the final energy-based refinement becomes increasingly beneficial as the reconstruction problem becomes more challenging. Taken together, the results indicate that combining manifold projection and energy minimization provides an effective and interpretable framework for generation, reconstruction, and out-of-distribution detection, while offering new insights into the complementary roles of energy-based modeling and representation learning. --- ### North Small Translate: Advanced Cost-Effective Translation (Cohere CAT+) Authors: Tom Kocmi, Alexandre Bérard, Phil Blunsom, Samuel Cahyawijaya, Shaun Cassini, Nicholas Frosst, Ona de Gibert, Aidan Gomez, Nithya Govindarajan, Shun Kiyono, Olivia Lasche, Lawrence Rogers et al. Published: 2026-09-12 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.13916v1 We present North Small Translate, an open-weight, LLM-based machine translation (MT) model with instruction-following capabilities built on the same foundation as Cohere's Command A Plus, a mixture-of-experts architecture with 25 billion active parameters out of 218 billion total parameters. North Small Translate is trained using difficulty sampling to obtain challenging documents and a five-step training protocol combining supervised fine-tuning, direct preference optimization, and online reinforcement learning. We prioritized throughput through a non-reasoning base model and supplemented with optional agentic capabilities to unlock translation quality gains. North Small Translate is trained to perform MT-related tasks, including post-editing and quality estimation, as well as related tasks such as general instruction following. The model achieves top MT performance across 50 languages in the class of models under 1T parameters, with no need to run expensive reasoning at inference time. --- ### Machine Learning under Imperfect Data: Challenges and Methods Authors: Masoumeh Zareapoor Published: 2026-09-12 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.13914v1 Machine-learning models are commonly developed under an assumption that training and test data are sufficiently complete, balanced, labelled, and drawn from compatible distributions. In practice, one or more of these conditions is often violated. Measurements may be missing or corrupted, rare classes may be poorly represented, supervision may be weak, and the deployment environment may differ from the training environment. These imperfections are usually treated as separate technical problems, although they alter learning through a small number of shared mechanisms: loss of information, biased empirical risk, ambiguous supervision, and unstable representations. This short survey organises representative methods around these mechanisms. It reviews reconstruction and generation, rebalancing and representation calibration, learning with limited supervision, adaptation across domains and modalities, and reliability under distribution change. The discussion highlights the limits of plausible reconstruction, benchmark-specific correction, and adaptation without trustworthy feedback. It concludes with directions for evidence-aware learning, uncertainty-preserving prediction, and evaluation that separates visual plausibility from decision utility. --- ### DiTAR+: Dual Optimization for Robust Autoregressive Diffusion Speech Synthesis Authors: Ziyu Zhang, Tianlun Zuo, Hanzhao Li, Haoyu Zhang, Lei Xie Published: 2026-09-12 Categories: cs.SD, cs.AI, eess.AS arXiv: https://arxiv.org/abs/2609.13909v1 Continuous-latent Autoregressive Diffusion Transformer (AR-DiT) models have demonstrated immense potential in zero-shot speech generation. However, they still suffer from limited decoding stability when synthesizing long utterances or complex linguistic structures. This instability primarily stems from a restricted historical receptive field and an acoustic inertia dependency within the diffusion decoder, which causes the model to ignore semantic conditions. To address these challenges, we propose DiTAR+, a dual-optimization framework. First, we introduce Dilated Context Sampling to expand the macro-level historical receptive field without violating physical temporal continuity, thereby preventing cumulative error propagation. Second, we propose Hierarchical Acoustic Masking to prevent shallow layers from attending to acoustic pre-context, explicitly decoupling semantic alignment from acoustic detail reconstruction. Extensive experiments show that our framework effectively mitigates pronunciation errors and semantic hallucinations, enhances generation robustness on challenging sentences, and maintains exceptionally high speaker similarity throughout the entirety of long-form utterances. On the linguistically challenging ZH-Hard set, DiTAR+ reduces the word error rate from 12.478% to 9.893%, and on extended utterances of 25 to 35 seconds it improves speaker similarity from 0.741 to 0.759 while simultaneously lowering the word error rate from 2.778% to 2.173%, outperforming both discrete-token and pure flow-matching baselines. --- ### Phorecaster365: A Human-Supervised Reference Architecture for Hybrid Pharmaceutical Sales Forecasting and Planning Decision Support Authors: Houman Kazemzadeh, Kamyar Naderi Published: 2026-09-12 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2609.13907v1 Pharmaceutical sales forecasts inform planning across products, regions, and distribution channels, yet their interpretation depends on inventory availability, transaction semantics, product lifecycle, and the information available when each forecast is issued. A model prediction alone does not preserve these conditions or establish whether a forecast is suitable for operational use. We present Phorecaster365, a human-supervised reference architecture that connects enterprise resource planning data to reviewable pharmaceutical sales forecasts. The architecture separates source ingestion, product-region series construction, temporally valid feature generation, statistical and machine-learning modeling, ensemble formation, uncertainty assessment, planner review, and lifecycle governance. Its central intermediate representation is a forecast context package that preserves the source snapshot, forecast target, temporal cutoff, available covariates, data-quality state, and hierarchy version. A corresponding forecast evidence package links predictions to model and calibration versions, exceptions, human adjustments, and publication history. Development experience with a synthetic panel of 10,950 daily records across 30 product-region series informs the design. Historical experiment summaries are retained only as descriptive evidence of development because their evaluation does not establish independent predictive validity. We specify a rolling-origin evaluation protocol, baseline and ablation requirements, uncertainty and robustness assessments, and a staged pathway from synthetic testing to use in governed planning. The contribution is an implementation-neutral system design and validation framework; the report does not establish real-world forecasting accuracy, comparative superiority, or operational benefit. --- ### SkyAnchor: Updating Metric-scale Aerial 3D Gaussian Scenes from Unposed Ground-View Sequences Authors: Zhuoxiao Li, Xinyi Liu, Taoyu Wu, Yinrui Ren, Tongyan Hua, Ou Jing, Shuai Zhang, Dongli Wu, Rongjun Qin, Ge Lin Kan, Wufan Zhao Published: 2026-09-12 Categories: cs.CV, cs.GR arXiv: https://arxiv.org/abs/2609.13903v1 We study how to update a pre-built aerial scene with a newly captured, unposed ground-view sequence. The aerial scene already contains a reliable metric Structure-from-Motion (SfM) reconstruction and a pre-trained 3D Gaussian Splatting (3DGS) model, whereas the ground-view sequence is collected later to add street-level appearance but has unknown camera poses and global scale. Registering this sequence to the aerial SfM reconstruction is challenging because single-image cross-view localization is brittle and long trajectories are prone to drift. To address these challenges, we present SkyAnchor, which treats the existing aerial scene as a fixed scaffold for ground-view registration and scene update instead of jointly reconstructing aerial and ground imagery from scratch. It first localizes short groups of consecutive ground frames against geometrically verified aerial support, producing sparse anchor poses. It then recovers the full ground trajectory with anchor-constrained submaps, fixing the front and rear anchor poses during incremental registration and bundle adjustment. Finally, it inserts filtered ground Gaussians while preserving the aerial view, followed by lightweight joint refinement. Experiments on seven real aerial--ground scenes show accurate metric ground trajectories and updated 3D Gaussian scenes with strong aerial- and ground-view rendering quality. --- ### HQARRF: Hierarchical Q-learning and Force-aware Routing for Multi-Charger Scheduling in Wireless Rechargeable Sensor Networks Authors: Liang-Ching Tao, Pi-Chung Wang Published: 2026-09-12 Categories: cs.NI, cs.LG arXiv: https://arxiv.org/abs/2609.13901v1 Multi-charger scheduling in wireless rechargeable sensor networks must weigh sensor death risk, charger energy, travel cost, return-to-base feasibility and inter-charger coordination at once, and schedulers driven by local urgency alone duplicate service and leave whole regions unattended. We present HQARRF, a two-level scheduler. Below, an interpretable ARR-F score ranks candidate clusters through an attraction term for local urgency, a repulsion term against charger crowding and a force bonus from nearby critical sensors. Above, adaptive zones compress regional state into a deadline-based risk estimate, and a gated Q-learning controller decides only whether to redirect service to a high-risk, under-served zone. Over 27 parameter points HQARRF attains the highest mean survival rate at 26, improving survival by 20.7 percentage points over the mean of five baselines and 9.2 over the strongest baseline at each point. An ablation isolates the upper level: its gain tracks how often the controller fires. --- ### URCHIN: A Horizontal Spiking Language Model for Data-Constrained Pretraining Authors: Po-Han Chiang Published: 2026-09-12 Categories: q-bio.NC, cs.CL arXiv: https://arxiv.org/abs/2609.13899v1 The BabyLM challenge measures how much language a model can learn from developmentally-plausible, child-scale data rather than internet-scale corpora, yet prior language models forgo the biological constraints of the neural circuitry that acquires human language: spiking neurons separated into excitatory and inhibitory populations wired by a recurrent lateral connectome. This paper presents URCHIN (Unified Recurrent Connectome with Horizontal Integrate-and-fire Neurons), which applies the Parallelized Hierarchical Connectome Spiking State-space Model (PHCSSM) to language modeling: leaky integrate-and-fire neurons coupled by a Dale's-law lateral connectome resolve each token through a multi-transmission loop that recirculates activity to a fixed point. The instantiation is deliberately minimal: a single horizontal layer of 128 neurons, no attention, and 4.23M parameters. Two implementations share one set of weights and produce identical benchmark scores, so URCHIN is trained once and deployed either way with no conversion step: a parallel state-space model (SSM) scan that is GPU-efficient for training, or an event-driven recurrent spiking neural network (RSNN) with constant-cost inference for CPU or neuromorphic edge deployment. Across all three BabyLM tracks (Strict-100M, Strict-Small, and Multilingual), URCHIN offers a biologically plausible, efficient, and directly deployable reference point. --- ### Lie to me: Detecting Managerial Evasiveness in Earnings Calls via Conversational Audio Encoders Authors: Huizhong Chen, Huan Zhang Published: 2026-09-12 Categories: cs.LG, cs.CE arXiv: https://arxiv.org/abs/2609.13893v1 Earnings conference calls are a primary channel through which managers disclose information under analyst scrutiny. Prior work has linked vocal and lexical cues to future adverse outcomes, but often pools features over an entire call and underuses the interactive structure of Q&A. We propose a two-branch late-fusion framework for detecting managerial evasiveness as a predictor of extrinsic SEC events (primarily late filings): (i) an LLM-as-a-judge that maps Q&A text to an interpretable call-level vector X_text via a structured binary rubric, and (ii) a frozen conversational encoder whose temporal hidden states are read by a DeepVoice-style sequential reader to produce an audio representation h. Late fusion of (X_text, h) yields a call-level risk score p. On n=1,039 calls (212 late filings) with firm-grouped 5-fold CV, fusion reaches AUROC approx. 0.89, versus 0.55 for the text judge and 0.71 for duration alone. These results show that conversational audio dynamics encode managerial evasiveness beyond lexical content and call length, yielding a stronger early-warning signal of adverse SEC outcomes. --- ### CyclOT: Learning Quadratic Optimal Transport Maps via Synchronized Forward-Backward Interpolants Authors: Shizhou Xu, Jiachen Liu, Shih-Hsin Wang, Stefan Broecker, Yuhao Huang, Bao Wang, Thomas Strohmer Published: 2026-09-12 Categories: math.OC, cs.LG arXiv: https://arxiv.org/abs/2609.13892v1 We study the recovery of forward and reverse quadratic optimal-transport maps from unpaired samples in high dimensions. We introduce a bidirectional neural framework in which the learned maps induce forward and backward displacement interpolants, while the training objective combines bidirectional quadratic action, discriminator-restricted Jensen-Shannon endpoint objectives, and two-sided cycle consistency. The construction requires neither precomputed sample pairings nor an explicit convex-potential parameterization. For absolutely continuous probability measures supported on a compact convex set, and under the stated generator-approximation, discriminator-richness, and minimizer-attainment conditions, we prove a population recovery theorem: for every prescribed accuracy, the sum of the corresponding \(L^2\) errors between any global minimizer and the forward and reverse quadratic Brenier maps is below that accuracy, provided the discriminator level is sufficiently large and the annealing action weight becomes sufficiently small. Moreover, the cycle loss is bounded above by \(λW_2^2(μ_0,μ_1)\). Complementary results quantify approximate invertibility and show that exact endpoint Jensen-Shannon divergence and cycle consistency control missing target mass and many-to-one map collapse, respectively. Experiments on Swiss roll, MNIST, CelebA, single-cell perturbation data, and chest X-ray images evaluate endpoint fidelity, transport cost, inverse consistency, and the geometry of the induced interpolations. ---