Papers

The impairment of the hands can seriously affect the abilities of every individual to perform the every-day activity, so the design of stable and controllable support devices is a significant field of study. This paper is about the design and implementation of an automated bionic hand which is dedicated to the coordinated finger movement through the simplified and efficient actuation mechanism. The method that the proposed system was designed on is the tendon-based method whereby the servo motors generate the movement of the fingers, with assistance of the angular control which is calibrated. An actuation is controlled by a microcontroller that will be programmed by use of an Arduino-based microcontroller to carry out programmed gestures that include open hand, fist, pinch and half flexion. It has an interface that is voice command enabled to make it easy to interact with a Bluetooth based sender receiver architecture which offers an option of executing trained commands which are immediately converted to finger actions. To explore the motions behavior, finger coordination and control response to the input, the behavior of the experiment system is tested. The actuation of the fingers was found to take a total of about 7-8 seconds to achieve full flexion of all fingers in a sequence. The system showed repetitive and constant motion throughout several actuation cycles without loss of any apparent tension or precision of control. There was a stable grasp of objects of different shapes and sizes, which implied consistent coordination between the fingers. These findings indicate that the proposed system offers predictable and steady control behavior and has a simple and efficient mechanical and control architecture.

We study exact representations of $\mathrm{MAX}_N(x)=\max{x_1,\ldots,x_N}$ using two-hidden-layer ReLU neural networks. This problem has been studied in recent years in an attempt to characterize the exact number of hidden layers required to represent continuous piecewise linear functions. The best lower bound is 2, while the current upper bound is logarithmic in $N$. It remains completely open if the right answer is a constant number of hidden layers (possibly even 2!) or not. In fact, a recent breakthrough was the representation of $\mathrm{MAX}_5$ as a two-hidden-layer ReLU function obtained in [Bakaev et al., 2026], and the case of $\mathrm{MAX}_N$ was stated as open for $N\geq 6$ in that paper. Using a careful computer assisted search, we obtain two-hidden-layer ReLU representations of $\mathrm{MAX}_5, \mathrm{MAX}_6, \mathrm{MAX}_7$, and $\mathrm{MAX}_8$. We obtain these by considering rational linear combinations of terms of the form $\max\{\sum_{r=1}^{s}\max(x_{a_r},x_{b_r}),\sum_{r=1}^{s}\max(x_{c_r},x_{d_r})\}$, where $a_r,b_r,c_r,d_r\in\{1,\ldots,N\}$. Each inner maximum of two coordinates can be computed in a first hidden layer, and the outer maximum of the two side-sums can be computed in a second hidden layer. Consequently, every finite linear combination of these terms has a two-hidden-layer ReLU realization. An identity for $\mathrm{MAX}_N$ in this form therefore gives an exact two-hidden-layer ReLU representation of $\mathrm{MAX}_N$. Very recently, two-hidden-layer representations of $\mathrm{MAX}_N$ of the above form were obtained for all $N\leq 10$ in [Ruess et al., 2026]. Our representations are different and were developed independently. While our techniques share most of the high-level ideas presented in [Ruess et al., 2026], there are also some minor differences which may be of interest for future research on this problem.

Mixed-Integer Linear Programming (MILP) is a fundamental tool for combinatorial optimization with extensive real-world applications. A central challenge is designing computationally efficient MILP formulations. Large Language Models (LLMs) offer new opportunities to automate the modeling process, from deriving formulations to strengthening them. Reliable automation requires robust methods for verifying that proposed formulations preserve the underlying optimization problem. However, existing approaches evaluate formulations numerically and fail to reason about general problem instances. We resolve this limitation by introducing a constructive definition of MILP reformulation that can be formalized in Lean and machine-checked. We develop FLARE (Formulation-Level Automated Reformulation Evaluation), a method that uses an LLM-based agent and the Lean proof assistant to verify proposed reformulations against a reference formulation. To evaluate our approach, we introduce FormulationBench, a challenging dataset of 20 problems and 109 formulations. FLARE outperforms existing methods, with 100% accuracy on the NP-hard subset of FormulationBench. Furthermore, FLARE produces a machine-checkable certificate for every reformulation it accepts. For cases where formal guarantees are not necessary, we introduce FLARE-NL, a fast and cheap LLM proxy that matches FLARE's accuracy but produces no certificate. These methods enable reliable verification in automated optimization modeling.

The way we structure, conduct, and write up interactive systems research in UIST papers rests on assumptions about constraints that may no longer hold today. What should an impactful UIST paper look like when building working systems is no longer hard? I argue that it should look different, and that we should ask more of our papers once implementation stops being a bottleneck.

Speakers in natural conversation take turns speaking and listening, deciding in real time when to take, hold, or yield the floor. However, turn-taking evaluation remains limited due to the lack of a consistent, linguistically grounded evaluation protocol and hand-annotated data covering diverse conversation types. To address this, we present TurnBench, a multi-domain benchmark that pairs a 30-hour, hand-labeled corpus of dyadic human conversation with a standardized evaluation protocol for end-of-turn and interruption detection. We set conversation type as a controllable experimental variable, covering six distinct interaction styles, and triple-annotate each conversation. Benchmarking 14 heterogeneous turn-taking systems, we find end-of-turn recall stable across types, while interruption false positives are strongly type-dependent and concentrated in backchannel-dense interaction styles. Although in smooth floor transfers human listeners begin speaking a median 151 ms before the current turn ends, no current system performs equivalently without incurring excessive false positives. We release our corpus, a 104-hour training set, and a public leaderboard with an interactive dataset viewer at https://turnbench.sesame.com.

We present an LLM-driven, datasheet-aware framework for early-stage hardware compatibility verification that identifies documentation-level interface incompatibilities based on hardware datasheets and high-level component connectivity descriptions. It does not require, and can therefore be used, before detailed schematic simulation and implementation. We view trustworthy LLM-assisted design automation not as directly generating answers from documents, but as transforming engineering information through traceable verification stages. Given hardware datasheets and high-level component connectivity descriptions, the framework constructs a design graph that captures device connectivity and shared interaction domains, retrieves only the engineering properties required by explicit, domain-oriented verification criteria , and generates deterministic scripts for compatibility evaluation. By decomposing compatibility analysis into modular stages and preserving intermediate results, the framework reduces context overhead, improves transparency and tractability, enables scaling, and avoids reliance on LLMs for numerical computation. Evaluated on seven embedded-system designs comprising 34 datasheets, our framework achieves 97.5% compatibility-verification accuracy and an 8.6 times reduction in input context size compared with “upload-and-query” workflows. These results demonstrate the feasibility of LLM-assisted, specification-based hardware compatibility verification at an early design stage, as well as the need for, and substantial benefits of, modular task decomposition, formalized verification criteria, and task-aware compact context construction.

Automotive electronic control units (ECUs) increasingly depend on hardware-rooted security to protect software integrity, authenticity, and lifecycle management in the presence of remote and physical threats. Hardware Security Modules (HSMs) have become a key building block in automotive system-on-chips (SoCs), providing isolated cryptographic services, secure key storage, and controlled execution under stringent real-time and cost constraints. This paper presents an architectural analysis of automotive HSMs and examines their role in establishing secure boot and hardware roots of trust. We first survey common HSM integration models used in production ECUs and discuss their flexibility and current automotive use cases. We then introduce realistic threat models to motivate hardware-backed security controls and analyze how HSM design choices influence secure boot chains of trust, secure storage, secure execution, and software signing mechanisms. Key tradeoffs between isolation, performance, updateability, and attack surface are discussed, with optional consideration of side-channel implications. The paper concludes by highlighting open challenges and future directions for scalable and resilient automotive hardware security. Finally, we discuss emerging challenges such as cryptographic agility and post-quantum readiness that are likely to shape the next generation of automotive HSM architectures.

Natural language driven autonomous co-scientist workflows involve a fundamental trade-off between flexibility and reasoning at the expense of determinism, reproducibility, and observability. Such agents increasingly must communicate across institutional boundaries, where federation topology can shape latency and cost. We systematically evaluated these tradeoffs using a controlled ablation on a production agentic platform for science. We use a verifiable task: given a protein sequence, we ask an agent to confidently characterize its function by routing across common tools. We compare federation topology, classic RL vs LLM-driven harnesses, language model, and prompt expertise. We also stratify results by protein novelty. We find that the choice of LLM dominated prediction quality far more than topology or prompting (Opus ~92%-94% vs o4-mini ~40%-50%). The PPO policy was nearly as accurate as the best LLM (88%) at zero token cost, fastest latency, and perfect consistency, but yields no reasoning trace. Expert prompted LLMs reached the highest accuracy but were high-cost and less consistent; prompt dependence was largest when the task was hardest. Federation imposed a negligible penalty on performance. These results offer actionable guidance for deploying agents for scientific workflows: for routine, verifiable tasks, a cheap deterministic policy delivers near-frontier accuracy with complete reproducibility, while flexible LLM reasoning is best reserved for open-ended discovery.

We obtain new $\mathsf{NC}^1$-computable pseudorandom functions (PRFs) from various standard assumptions, resolving several long-standing open problems. Concretely, for the first time, we obtain $\mathsf{NC}^1$-computable PRFs: (1) from the Learning With Errors (LWE) assumption with a polynomial modulus-to-noise ratio, improving upon prior low-depth constructions that required Ring-LWE with super-polynomial ratios [Banerjee-Peikert-Rosen, EUROCRYPT 2012]; (2) from the Learning Parity with Noise (LPN) assumption, removing the need for structured LPN variants [Boyle et al., FOCS 2020], [Ding-Jain-Komargodski, STOC 2025], [Ding-Jain-Komargodski, TCC 2026]; (3) from the Computational Diffie-Hellman (CDH) assumption; prior works relied on the stronger Decisional Diffie-Hellman (DDH) or generalized Diffie-Hellman (GDH) assumptions [Naor-Reingold, FOCS '97, J. ACM '04]. Technically, our results follow from a new generic transformation that converts weak PRFs computable in depth $d(n) = \Omega(\log n)$ to (strong) PRFs computable in depth $O(d(n))$. Roughly speaking, our approach combines tapering the internal state of the classical GGM tree (so that the per-leveldepth decreases geometrically) with a two-stage security proof that transitions from a computational to an information-theoretic argument.

The notion of linear neighborhood complexity is a very general structural assumption on a graph class, covering most classes of sparse graphs such as planar graphs, graphs excluding a fixed (topological) minor, or bounded expansion graphs, as well as many structured classes of dense graphs, such as graphs of bounded clique-width, twin-width, merge-width, or flip-width. In this work, we present $O(n^2)$-time optimal algorithms for $n$-vertex graphs coming from a class of linear neighborhood complexity for the following problems: $\bullet$ All-Pairs Shortest Paths, $\bullet$ the multiplication of the adjacency matrix $M$ of the input graph with any $n \times n$ matrix. More specifically, after a quadratic preprocessing, we can multiply $M$ with any $n$-vector in $O(n)$ time. This solves several questions raised in [Bonnet, Kim, Geniet, Moon; ICALP '26], and improves and generalizes results in several other recent papers [Bonnet, Giocanti, Ossona de Mendez, Thomassé; STACS '23], [Bannach, Marwitz, Tantau; STACS '24], [Anand, van den Brand, McCarty; NeurIPS '26], [Kozma, Opler '26], and [Cardinal, McCarty, Yuditsky '26]. We also extend our results to classes of bounded VC density. In classes of linear neighborhood complexity, we also give a triangle-detection algorithm in randomized linear time $O(n+m)$ in $n$-vertex $m$-edge graphs, a $K_4$-detection algorithm in randomized $O(n \log^5 n + m \log n)$ or deterministic $O(n^2)$ time, and a $K_5$-detection algorithm in randomized $O(n \log^9 n + m \log^5 n)$ time.

Large Language Models (LLMs) are powerful tools for processing data. However, LLMs are also complex black-boxes, returning answers to queries on data, without any indication for where the answer came from or whether it is trustworthy. We introduce the notion of provenance for data processing with LLMs. While existing heuristics (such as embedding similarity or directly asking an LLM) could provide some hints for where the answer was derived, they provide no guarantees that the answer can be derived using the identified provenance, and indeed, are often incorrect. Instead, we propose the notion of verifiable provenance wherein we identify a subset of the input text that reproduces the same (or equivalent) answer as that on the complete text, and introduce the notion of minimality, where the verifiable provenance is as small as possible. To identify such a provenance, a naive solution would require checking all possible subsets of the source data with the LLM, which is prohibitively expensive. We present BLIP, a bolt-on framework for efficiently inferring a small-sized verifiable provenance for any LLM-powered data processing task, with any LLM. As part of BLIP, we introduce eight strategies, each guaranteed to find a minimal verifiable provenance, as well as an adaptive strategy that combines their strengths to reduce cost further. We further extend BLIP to produce multiple minimal verifiable provenances. Experiments on seven datasets show that the provenance generated by BLIP is always guaranteed to reproduce the answer, achieving over 30% higher accuracy than the best-performing baseline with a comparable provenance size. Moreover, BLIP incurs a low cost, comparable to the original query on the original data.

We introduce the Huffman-Merkle Tree (HMT), an authenticated data structure (ADS) for dynamic workloads where items may differ in access frequencies, and access frequencies can change over time. An ADS allows proving item membership against a short commitment to a large mutable state, with applications including verifiable storage, Internet transparency services, and blockchains. Optimizing ADS performance under continuously changing access frequencies has not been fully addressed before, neither in theory nor in practice. HMT addresses dynamically changing access skew through two complementary mechanisms. The first is a Huffman-coding-based Merkle-tree layout, with a novel extension to support evolving access frequencies. The second is an elastic tiering regime that partitions items across separate trees, such as hot and cold tiers, with adaptive migration between them. The key insight in this approach is to place frequently accessed items closer to the root, while assigning less frequently accessed items to progressively larger and deeper trees. This reduces the overall frequency-weighted access cost. Our scheme is designed to scale to gigabytes of data spanning millions of items. To handle dynamism efficiently, layout updates are applied in batches, access frequencies are tracked using a count-min sketch, and the system employs a tier-promotion cache while exploring multiple tier-migration policies. We implement HMT and compare it on real-world data with Ethereum's Merkle Patricia Trie (MPT) ADS and its proposed replacement, the Unified Binary Tree (UBT). Our evaluation considers two metrics: the amount of hashing per update and access-weighted membership-proof size. The latter captures both item access cost and frequency. We find that the best HMT policy uses about 2.4x and 0.34x less average hash operations than MPT and UBT respectively, and has 0.18x and 0.55x shorter proofs.

We introduce LibriBrain100, a large-scale MEG dataset for speech decoding designed from the ground up for reproducible, standardised evaluation. LibriBrain100 more than doubles the size of the original LibriBrain release, resulting in over 100 hours of high-quality MEG acquired while subjects listened to naturalistic continuous speech. With $\sim$80 hours from a single subject, LibriBrain100 sets a new record for deep, within-subject neural data (8$\times$ more than the next comparable dataset and roughly 80$\times$ more than other datasets). To demonstrate the payoff of this depth-first design, we evaluate on a word-classification benchmark—an increasingly well-established stepping stone towards the open challenge of noninvasive brain-to-text decoding. Using an existing decoding model, we achieve state-of-the-art performance—validating both the quality of the recordings and the value of within-subject data at scale. Because collecting 80 hours of data per user is impractical for real-world applications, we also collected $\sim$40 minutes of additional data from each of 32 subjects. Using the same word-classification benchmark, we demonstrate the value of broad multi-subject data: supervised finetuning of a pre-trained model can substantially compensate for limited per-subject data. We provide standard train, validation, and test splits, all reproducible through an open-sourced Python library that supports easy downloading, optional preprocessing, and data loading for common deep learning frameworks. In addition, the dataset and evaluation infrastructure are being released alongside an open machine-learning competition with a public leaderboard for standardised benchmarking. Ultimately, our hope is that LibriBrain100 will accelerate progress towards practical non-invasive brain-computer interfaces, capable of restoring communication to people living with severe paralysis.

Simulating large-scale free-surface water by coupling a localized 3D fluid solver to a cheaper 2D surface model has long faced a mismatch in wave dynamics: efficient 2D wave models used in graphics are typically either linear or non-dispersive. These models are fast, simple, and accurate for calm, small-amplitude seas, but coupling them with strongly nonlinear 3D solvers produces visible reflections and artifacts at the 2D–3D interface. We address this problem by introducing a nonlinear and dispersive 2D wave model based on the canonical Zakharov formulation. Its Hamiltonian structure, in which the surface elevation and surface potential form a canonical pair ($\eta$, $\psi$) governed by the wave energy, enables a canonically consistent two-way coupling scheme, allowing information to pass smoothly across the 2D–3D interface. Our 2D solver reduces mean wave-height error by 1.7–5$\times$ over SWE, BEM, and Airy baselines while running more than $10^3\times$ faster than BEM; it achieves greater nonlinear accuracy and coupling fidelity than SWE and Airy, with minor losses in speed and stability. Coupling it with a 3D Navier–Stokes solver yields a full system that suppresses visible seam artifacts across a range of experiments, including dispersion-matching and Kelvin-wake tests, and runs over 4$\times$ faster than a pure GPU NB-FLIP simulation on the same domain.

AI coding agents implement software from naturallanguage instructions, but the intent behind that work is lost when stated only in chat sessions. Spec-driven development (SDD) addresses this by having developers and agents write specifications that guide implementation, yet evidence on its use comes largely from tool vendors. We study SDD in practice through a thematic analysis of Reddit discussions, interviews with 21 practitioners, including eight tool makers, and 266 active and popular repositories in SpecMine, a corpus of 470,795 spec files from 73,030 public GitHub repositories that we release. Practitioners agreed that specs should capture intent, but many also included implementation details, used SDD selectively and mainly for new features, and reported more reliable agent behavior alongside greater planning and review costs. Our findings show that implementation detail may help agents while making specs prone to decay, that tool-specific record structures shape what people and agents see, and that participants described spec-code checks mainly when changes are completed rather than over time. We also find that individual benefits may come from clarifying intent before delegation, while team benefits may depend on SDD becoming a shared process. We derive implications for tool builders, practitioners, and researchers.

We study learning a mixture of $k$ Plackett-Luce models from multi-way ranking responses from annotators that may represent heterogeneous underlying preferences. This problem has many applications in AI alignment and preference optimization. Prior work has studied mixtures of Bradley-Terry models from pairwise comparisons. However, estimating a mixture of multi-way ranking models can become theoretically unidentifiable when $k$ exceeds $m/2$, where $m$ is the ranking length. We design an efficient algorithm to address this issue by first augmenting the rankings to a larger size (e.g., generating comparisons from a base model), followed by a gradient-based estimation to reduce inference cost (in the input embedding space). With this procedure in mind, we then fit a mixture of Plackett-Luce (PL) models via an expectation-maximization-style iteration, or MoPLEx in short. We conduct extensive experiments to verify this algorithm. First, we find that the gradient-based approximation estimates true probabilities with less than 5% error on models with up to 34 billion parameters. Second, MoPLEx improves clustering and ranking accuracy by an average of 43.7% and 15.2% over baselines using a single PL model or a mixture of Bradley-Terry models, on UltraFeedback and PERSONA datasets. These results demonstrate the effectiveness of MoPLEx for tackling multi-way rankings following heterogeneous preferences through measuring alignment via gradients.

We study a tree-structured regularizer over class-prototype layouts in a hierarchical-classification model and ask whether the choice of latent manifold for the prototypes (Euclidean R^d vs. the Poincare ball B^d_c) affects how well that regularizer can be satisfied without distorting the data likelihood. The two manifolds differ only in their volume growth: hyperbolic space grows exponentially with radius and embeds trees with provably lower distortion than R^d of matched dimension, so the structured regularizer should be cheaper to satisfy on B^d_c. Across 150 seed-replicated regularized maximum-likelihood fits spanning embedding dimension, curvature, and regularizer strength on WikiArt (27 styles, 81,446 paintings, frozen CLIP ViT-B/16 features), we find a single robust effect: Poincare prototypes preserve the topology of the nearest-neighbor graph in latent space substantially better than matched Euclidean prototypes (sibling recall@5 +8.7 pp, cousin recall +15.2 pp; paired-t p < 10^-4, sign agreement 0.94), and the gap holds across three reference-tree definitions (hand-built lineage, CLIP-derived, and DINOv2-derived). On classification, Euclidean prototypes are tied with logistic regression on raw encoder features, indicating no detectable contribution from the latent geometry; only the hyperbolic fit improves on a k-NN encoder baseline for local retrieval. Global tree-fidelity comparisons are unstable across reference trees and we do not claim a winner. The results give an empirical separation, on a real hierarchical-classification problem, between two natural latent geometries for a class-structured regularizer.

Deciding whether to call a tool is a core competence of an LLM agent, and a costly one to get wrong: needless calls add latency, accrue cost, and may trigger irreversible side effects, while missing calls leave the model confidently wrong on questions it could only answer through tool-calls. Models manage this balance poorly, both over-using and under-using tools. Existing methods such as post-training and prompt engineering are expensive and difficult to modify at inference time. We show that whether an instruction-tuned model calls a tool can be controlled by a single linear direction in its residual stream, extracted without any training from the model's own tool-use preference signal and turned into an inference-time intervention with no prompt change. Adding the direction with strength $\alpha$ moves the call rate monotonically from near $0\% $ to over $90\%$ while keeping calls well-formed. The steering works in both directions: dialing it down suppresses calls, and dialing it up induces new calls that land precisely on the questions the model cannot answer from its own knowledge. We also show that the direction generalizes to unseen tools with strength comparable to each tool's own direction and without favoring any specific tool choice. With live tool execution, a single sweep of the steering traces a cost/accuracy Pareto frontier and nearly doubles open-domain QA accuracy ($0.29 \! \rightarrow \! 0.56$); the same recipe transfers across a diverse range of models spanning dense, MoE, and multimodal architectures, without any training. Our code is publicly available at https://github.com/YuqiChen4188/Steering-Tool-Use-Propensity.

The optimal discretization problem asks, given two disjoint sets of points $R$ and $B$ in the plane, for a minimal family of horizontal and vertical lines that separate the two sets, so that no cell delimited by the lines contains points from both sets. The problem arises as a pre-processing in supervised machine learning, and has received significant attention in parameterized algorithmics. Answering the question raised by Bonnet, Giannopoulos, and Lampis [IPEC 2017] and Froese [PhD thesis, 2018], it was shown by Kratsch, Masařík, Muzi, Pilipczuk, and Sorge [SODA 2021] that optimal discretization admits a fixed-parameter algorithm with running time $2^{\mathcal{O}(k^2 \log k)} \cdot n^{\mathcal{O}(1)}$, where $k$ is the solution size and $n = |R| + |B|$. In this paper we give an algorithm for optimal discretization that runs in time $\mathcal{O}(1.9602^n)$. We also study the related point separation problem that asks to separate all input points by axis-parallel lines. For this problem we obtain an algorithm with runtime $\mathcal{O}(1.8899^n)$. Our guarantees follow from structural observations about bichromatic and monochromatic point sets. To our knowledge, these are the first improvements over the trivial $2^n$ bound for both problems.

Learning from demonstration (LfD) methods enable non-expert end users to teach robots novel skills without explicit programming. However most evaluations of the usability of LfD with non-experts has been conducted in controlled laboratory environments with a robotics experimenter present. In this work we identify non-expert end users' key barriers when teaching robots via demonstration without live robotics expert feedback in a home environment. In our human subjects experiment we support the non-expert end users through two forms of demonstrator guidance developed in prior work: pre-training and adaptive feedback. Towards the ecological validity of the evaluation, we conduct this experimentation over multiple visits, with a population of care providers. Finally, we propose to open source the resulting LfD dataset of care providers teaching a robot assistive tasks over multiple visits to a home environment.

Smart freight corridors offer a practical pathway for connected and automated vehicle (CAV) deployment in freight transportation, but physical experimentation is expensive and existing approaches rely on predefined control policies that cannot capture adaptive behaviors. This paper presents an agent-based modeling (ABM) framework coupling a physical infrastructure layer, a connectivity layer (V2X), and a decision layer integrating reinforcement learning (RL) and multi-agent reinforcement learning (MARL) for platoon formation and charging coordination. We evaluate three scenarios (Baseline, Assisted, and Cognitive) using throughput, congestion, energy, emissions, and robustness metrics. Preliminary results indicate that the Cognitive scenario achieves higher throughput and lower congestion than the baseline, while the Assisted scenario delivers meaningful energy savings per kilometer through platooning. Sensitivity analysis shows that the throughput advantage of the smart corridor widens under conditions with high demand and that MARL coordination extracts greater utilization from fixed charging capacity than rule-based assignment.

We introduce CRESSim-Neo, a batched GPU simulation engine for surgical robotics and robot learning. CRESSim-Neo combines position-based simulation of rigid bodies, deformable tissues, fluids, and strands with batched rendering, surgery-specific sensing, and a GPU-resident data pipeline. The engine supports applications including tissue manipulation, fluid suction, suturing, cable-driven robots, and ultrasound image synthesis. Direct access to physics and rendering buffers enables GPU-resident robot learning and zero-copy PyTorch integration using DLPack. We demonstrate CRESSim-Neo across rigid-body, deformable-body, and fluid simulation tasks, including vision-based and surgical robot-learning scenarios. On an NVIDIA RTX 4090, the engine achieves up to 2.03 million environment steps per second for 8192 parallel CartPole environments, and scales to batched surgical scenarios involving tissue deformation, fluid interaction, and ultrasound sensing. Overall, CRESSim-Neo provides a unified and scalable platform for surgical simulation, synthetic data generation, and surgical robot learning.

Fake news detection has become an important Natural Language Processing (NLP) task due to the rapid spread of misinformation through online news platforms and social media. While transformer-based models such as BanglaBERT achieve strong performance for Bangla text classification, their quadratic computational complexity makes them less suitable for long-document processing in resource-constrained environments. This paper investigates Mamba-based State Space Models (SSMs) as an efficient alternative for Bangla fake news detection. We propose BanglaMamba and compare it with pre-trained BanglaBERT and a similarly configured BERT model trained from scratch. Experimental results show that BanglaBERT achieves the highest Macro-F1 score (0.9260), while BanglaMamba (0.9029) achieves performance comparable to the from-scratch CustomBERT (0.9057) despite using a different architecture. Meanwhile, BanglaMamba achieves approximately $2.2\times$ higher inference throughput and 49% lower inference peak GPU memory usage than the BERT-based models. Cross-dataset evaluation shows that BanglaBERT generalizes better to an external dataset, highlighting the importance of large-scale pretraining. These findings demonstrate that Mamba-based SSMs can provide a competitive and computationally efficient alternative to Transformer-based architectures for Bangla fake news detection, particularly in resource-constrained settings.

Understanding how molecular interactions govern macroscopic behaviour is a central challenge in molecular sciences. However, conventional theory building cannot keep pace with the vast datasets modern experimentation routinely produces. Large language models offer a promising route to automating theory construction, but a spatiotemporal field cannot be directly placed in a prompt. Existing models generally learn about the data only through a score measuring how well each proposal fits it. Here we introduce data interpretation, a stage that measures the field into the quantities a theorist would consult and supplies them to the model as a direct input. On a benchmark of simulated fields, interpretation nearly triples the accuracy of recovered equations relative to showing the raw data, at negligible computational cost and without any training. By allowing a language model to read field data as a theorist does, data interpretation offers a practical route to automated field theory construction that can coevolve with experimentation.

Most competitive 4-bit LLM research pipelines now open the same way: apply a linear, function-preserving transform (rotation, scaling, permutation, non-orthogonal affine) so the outlier mass sits more favorably against the group scales, and only then round. Yet we are aware of no survey dedicated to this transform stage, and its literature is quietly re-deriving an older theory. We identify and formalize the principle that organizes it, the Great Inversion: allocation-flexible coding rewards energy concentration, whereas the grouped shared-scale quantization a deployed matrix instruction performs rewards within-group flattening. Classical transform coding (1963: decorrelate, allocate bits, quantize) spends different bits per coordinate at a fixed total rate; for a Gaussian source at high rate the Karhunen-Loeve transform's concentration minimizes distortion. A deployed operand tile instead carries one absolute-maximum scale per group and equal bits everywhere, with no allocation; on a uniform grid that objective rewards flattening, approached by Hadamard incoherence. We prove that opposition under within-group majorization: the prescriptions point in opposite directions, each backed by a proof against its own objective, and for a generic spectrum no optimality guarantee transfers. A second axis is the number format: the non-uniform FP4 grid makes flattening buy less, MXFP4's power-of-two block scale still rewards a rotation confined to that block, and NVFP4's mantissa-carrying scale largely removes that pull, so the target pole depends jointly on allocation regime and format. We survey 200 works to a June 2026 cutoff; classify 43 transform methods by structure, data-awareness, searched-versus-constructed, and runtime cost; record, where reported, how they compose with GPTQ rounding; distill a first-choice guide by deployment regime; and close with the open problems it exposes.

Modern database services scalably search over large data collections via Approximate Nearest Neighbor Search, which improves search performance at the cost of search quality, measured by recall. In practice, a database operator seeks to achieve a target mean recall while maximizing throughput across search queries. We show that optimizing for mean recall masks significant differences in recall across queries even when target recall is met. As a result, numerous queries face (1) below-target recall, hurting user experience and revenue and (2) above-target recall, wasting computation to deliver unnecessarily high search quality. Thus, it is critical to detect and reduce recall differences across queries. We design RCheck, a light-weight run-time system that identifies low-recall queries and reduces recall differences while achieving high throughput. RCheck's key design principle is to dynamically, efficiently adapt search effort by increasing effort for queries below target recall and decreasing effort for those above it. RCheck tunes available search effort parameters, making it readily deployable. We evaluate RCheck using the widely-used production-style pgvector database. At the same throughput, RCheck improves mean recall by 11-93% and enables 8-47% more queries to meet target recall compared to the state-of-the-art globally-tuned configuration.

In this paper, we study alternating regret in online convex optimization (OCO), motivated by the success of alternating learning dynamics in two-player games. Although previous works have shown that $o(\sqrt{T})$ alternating regret is achievable under various assumptions on the loss functions and feasible domains, the minimax regret rate has remained open even for the expert problem. In this paper, we resolve this question by showing matching lower and upper bounds for both the expert problem and general OCO. Somewhat surprisingly, for the $d$-expert problem, we show that the minimax alternating regret is $\Theta(\log d)$ by providing both a lower bound and an algorithm achieving a matching upper bound. This significantly improves upon the $O(T^{1/3}\log^{2/3} d)$ established by [HLLZ25]. We further extend our results to general OCO over a $d$-dimensional compact convex set and prove that the worst-case minimax alternating regret is $\Theta\left(d\log \left(1+\frac{T}{d}\right)\right)$, also significantly improving upon the $O((d\log T)^{2/3}T^{1/3})$ upper bound and resolving the open problem posed by [CCK+23,HLLZ25]. As a direct implication, our alternating dynamics achieve $O(\frac{\log d}{T})$ convergence to Nash equilibrium in two-player zero-sum games, matching the state of the art, and give the first such convergence rate to coarse correlated equilibrium in two-player general-sum games. Technically, our upper bound for the expert problem is achieved by a corrected variant of Hedge. We extend the same corrected-potential argument to continuous action sets to obtain the optimal alternating-regret rate for OCO. For the lower bounds, the construction for the expert problem repeatedly eliminates half of the candidate experts, while the OCO lower bound instance construction replaces this discrete elimination by a more involved multiscale construction on the unit disk.

Collective dynamics arise in a wide range of physical, biological, and engineering applications. Examples include cell migration, swarm robotics, social dynamics, and animal behavior. A defining characteristic of these systems is the emergence of large-scale coordination from local interactions among agents; a fundamental question is thus to understand the local interactions that give rise to the observed emergent dynamics. We are interested in methods for learning interactions generally, which can describe a wide class of physical systems exhibiting collective dynamics defined by an interaction kernel, without a priori assumptions on the analytical form of this kernel (i.e. it is nonparametric). The advantage of this kernel-based approach is that it incorporates the underlying physics of the model (i.e. collective dynamics), which more general equation-learning approaches may ignore, potentially limiting their effectiveness for model accuracy and predictions. In this work, we extend existing variational learning approaches to collective systems with both interaction kernels and environmental/intra-agent forces. The proposed framework simultaneously infers the interaction kernel non-parametrically while learning the environmental force using either semi-parametric or fully nonparametric representations. The methodology is validated on several benchmark models exhibiting synchronization, alignment, attraction-repulsion, and external environmental forces. We also introduce a model-selection procedure based on our nonparametric learning framework to identify models that optimally explain a given set of trajectory observations. By exploiting the feature-identification capability of the learned models, the proposed procedure can distinguish among different collective dynamics frameworks and recover mechanistic interaction mechanisms directly from trajectory data.

Worked examples are an important part of introductory programming, but reading their expert explanations is passive. Self explanation, students explaining the problem and its solution to themselves with subgoal level analysis, converts passive reading into an active study of worked example, yet it is hard to scale because assessing free-text explanations and returning timely feedback has had no easy automated solution. We investigate whether a large language model (LLM) can fill that gap. We build a self-explanation tutor for introductory programming, ESSE, in which students explain lines of worked examples and receive immediate LLM feedback on the correctness and completeness of each explanation, and we pursue two goals. First, we ask whether the LLM judges student explanations well enough to serve as the engine of the tutor; we assess its judgments against two independent human reference standards of different kinds, a single domain expert and a crowd of non-expert raters, each with its own strengths and weaknesses, characterizing both where the LLM is reliable and the systematic tendencies in how it diverges. Second, we ask whether the LLM-based tutoring benefits students; deploying it in an introductory Java course, we find that its feedback leads students to persist and revise rather than abandon a line, that their explanations grow more complete and conceptually richer across attempts, and that students show evidence of learning. These indicate that LLM-based assessment is good enough to power a self-explanation tutor, and that the tutor positively shapes how students study worked examples.

Suppose two parties, Alice and Bob, hold long character strings, $X$ and $Y$, respectively, and they are interested in determining how similar $X$ and $Y$ are. {Moreover, they want to exchange the strings with cost proportional to their degree of dissimilarity.} Such problems arise, for example, in database and file system synchronization operations, as well as in DNA sequence comparisons. Since the strings are long, we are interested in methods that are communication-efficient and have low overhead in terms of the computations that Alice and Bob must perform, when the strings are similar enough. In this paper, we provide a simple low-overhead communication-efficient algorithms for such string reconciliation and edit distance problems, determining the edit distance $k$ between $X$ and $Y$ using only $O(k\log^3 n)$ bits of communication and $O(n\log k)$ time overhead, with high probability.