Papers

Agentic systems commit state-changing actions, but additional verifiers can inherit the same upstream fault. We present VP-CONTROL, a runtime-assurance design and deterministic benchmark for cost-aware commit gates. Its 48 task templates yield 2,880 scenarios across six fault regimes. A fixed-call 2 x 2 experiment separates verifier-model diversity from evidence-source diversity. On frozen proposals from two local actor families, a cross-model vote over shared evidence approves 62.9% of unsafe proposals, versus 22.9% with an independent source. The source effect is 40.9 percentage points, compared with 11.3 for model diversity. A portfolio controller selects verification plans using only deployment-observable metadata. Approximate cluster-adjusted calibration at a nominal 5% per-task target yields 1.9% unsafe execution and 38.2% automated safe coverage on the locked test. Matched-budget portfolios also improve on fixed verification policies. Transfer remains conditional: unseen fault families yield 16-26% risk, and a FinQA check fails to reproduce the source effect with the tested small verifiers. A preregistered live HTTP/SQLite study tests concurrent writes and lost responses. After-check races defeat verifier-only gates; transactional partial guards prevent only covered failures, while a full atomic guard records no unsafe effects across 216 episodes. Idempotent request identifiers prevent duplicate effects after lost responses. The results motivate explicit evidence lineage, cost-aware selection, and commit-time enforcement, while exposing the limits of approximate calibration and local-tool generalization.

Agentic LLM workflows consist of sequences of model turns interleaved with tool interactions, so their end-to-end completion time depends not only on inference speed but also on when ready turns are released. Most runtimes release each turn immediately upon readiness. Under contention, this eager release policy can accumulate released but unfinished work; once submitted, those turns can no longer be reordered by the workflow-level policy, increasing tail latency. We present a tail-risk-aware turn release scheduling method that jointly decides which ready turn to release next and how much released but unfinished work to maintain. The method uses a mean–Conditional Value-at-Risk (CVaR) objective to capture the evolving tail risk of unfinished workflows, incorporates online estimates of turn work when prioritizing ready turns, and adapts the released work budget to observed queue pressure. We evaluate the method using real agent execution traces from software engineering tasks across multiple LLMs and workflow arrival rates. The method performs comparably to eager release under light load and substantially reduces the P95 of workflow flow time under contention, achieving up to a \(3.50\times\) speedup.

Studies of the Model Context Protocol (MCP) server ecosystem draw their samples in ways that quietly select for servers that work: reference sets, popularity lists, hand-curated frames, or pipelines that repair a server until it starts. We report what an unrepaired probability sample actually contains. From a 24,135-server registry census we draw 400 npm/stdio servers with a published seed and probe each one over the wire. Only 48.8% complete an initialize handshake, against 66.7% for a hand-curated frame measured with the same instrument, and the dominant failure is not missing credentials (13.3%) but servers that never start at all (37.5%). Among the 195 that do run, hard conformance is total: zero fatal JSON Schema violations across 2,766 advertised tools. Optional safety annotations are the real variance, and the tool-level omission rate on a random draw is 58.8% against 41.5% on the curated frame, so curation flatters this figure too. We then compare the tool descriptions these servers advertise against two tool-use benchmark corpora using one method held constant. Real MCP tools show 2.8% near-duplication at cosine 0.70, and all of it lies within single servers: cross-author near-duplication is 0.0% at every threshold tested. BFCL v4 shows 16.7%, of which 16.4 points lie between independently presented tasks. UltraTool shows 0.3%, cleaner than real tools, so this is a property of BFCL and not of synthetic corpora as a class. Separately, 68.8% of raw BFCL rows and 85.6% of raw UltraTool rows are exact name-plus-description repeats, against 0.4% for real MCP, so any statistic computed over these releases without global deduplication measures repetition rather than tools. All figures regenerate from released scripts and a published seed.

P300 brain-computer interface (BCI) spellers can provide hands-free communication for people with severe motor impairments. Modern pipelines combine multiple individually promising components, often assuming that 'more-is-better'. We tested this assumption using a four-component full-factorial experiment varying the inclusion of Euclidean Alignment (EA), xDAWN spatial filtering, subject calibration, and language model priors on a public P300 dataset. Performance was evaluated using accuracy, repetitions, and information transfer rate (ITR) with mixed-effects models. Results show that the value of components is conditional rather than additive. Calibration was the strongest singular contributor, while EA compensated for its absence in zero-calibration settings. Adding independently useful components could also reduce performance, revealing component anti-synergy. Contrary to conventional wisdom, LM support was not universally beneficial: its effect depends strongly on the strength of the underlying EEG pipeline, while results from a larger LM showed a similar pattern. Together, these findings challenge maximal 'all-on' pipeline design and highlight the value of selecting spatial and language-support components according to the quality of available EEG evidence.

We study the fair allocation of $m$ indivisible chores to $n$ agents with subadditive cost functions arriving online in an arbitrary order. Upon an agent's arrival, we are informed of her cost function and must irrevocably assign her a set of chores. We focus on the Maximin Share (MMS) fairness notion and aim to compute an allocation in which all items are assigned, and no agent incurs a cost more than $\alpha$ times her MMS. Without any prior information about the instance (other than $n$ and $m$), we design an algorithm with a competitive ratio of $O(\min\{n, k\log^{1+\epsilon}k, \log m\})$ for any constant $\epsilon > 0$, where $k$ denotes the number of cost function types. Our bound matches the best known offline approximation guarantees for MMS under subadditive costs and is nearly optimal with respect to all three parameters: we show that even for binary additive cost functions, no online algorithm can achieve a competitive ratio of $o(\min\{n, k\log k, \log m\})$. We then consider the setting in which the $k$ cost function types are known in advance (though the realized types of arriving agents are not). For additive cost functions, we provide an algorithm with a competitive ratio of $O(\min\{\log k, \log(kn)/\log\log(kn)\})$, and show that constant-competitive algorithms do not exist for general $k$, even for the binary additive setting. For binary additive functions when $k \le n$, we propose a $3$-competitive algorithm and establish a lower bound of $2$.

Continual world models must decide whether new data justify changing the model. Fixed replay schedules and prediction-error triggers specify when to update, but neither reveals the value of an individual update: one deployment run cannot show how the same model would have performed at that moment had it held its parameters. We introduce the fork ledger, which branches a deployment stream at pre-registered decision points into matched update and hold continuations under common random numbers. It evaluates both continuations on the same episodes and records $\Delta R = R_{\mathrm{update}} - R_{\mathrm{hold}}$. Always applying one fixed update mechanism lowers return on all three simulated control tasks: CartPole ($-144.0$; checkpoint-bootstrap $95\%$ CI $[-185.4,-116.1]$, against a converged return near $650$), Walker ($-82.8$; $[-101.1,-61.7]$) and Cheetah ($-18.6$; $[-29.0,-6.6]$). Divergence is an outcome of applying the update, so the estimand counts every attempted fork; restricted to the $693$ of $720$ that did not collapse, CartPole and Walker are unchanged in sign ($-113.4$ and $-82.1$) and Cheetah becomes unresolved ($-3.9$; $[-17.5,+13.0]$). The task is the unit of inference: each contributes $240$ attempted forks over five pretrained checkpoints crossed with two drift directions. The ledger makes counterfactual utility observable for a fixed mechanism, allowing triggers to be judged by the updates they select rather than by surprise detection alone.

Data poisoning corrupts training data to degrade a model or to plant attacker-controlled behavior. This study evaluates two representative training-time attacks, label flipping and backdoor poisoning, on MNIST and Fashion-MNIST with three baseline classifiers: Logistic Regression, Linear SVM, and Random Forest. Clean training is compared with poisoning rates of 5%, 10%, and 20% using clean-test accuracy, macro-precision, macro-recall, macro-F1, and, for backdoors, attack success rate. Label flipping caused clear degradation, largest for Logistic Regression and Linear SVM, while Random Forest stayed comparatively stable. Backdoor poisoning reached attack success rates from 0.9667 to 1.0000 on both datasets and all three models while often keeping clean-test performance near baseline. The results separate indiscriminate poisoning, which shows up in standard metrics, from targeted backdoor poisoning, which stays comparatively stealthy while embedding highly effective malicious behavior, and they support security-oriented evaluation beyond conventional clean-test metrics.

AI-based automated vehicle testing is challenging because a model that passes every test condition can still fail in the real world. Formal verification offers a way to directly address this gap. On a simulated highway and an arterial road we trained two small end-to-end steering networks each in CARLA, one on clear conditions alone and one on clear, fog, night and low sun. All four models were driven against a 2.19 ft lane-departure budget. Without driving again, we used bound propagation, a formal method that reads the trained weights, to compute how far steering can drift at every disturbance strength between two captured images. One calculation covers more than a campaign could drive: on the arterial it spans 133 poses, where ten intensities each would be 10^133 combinations, in minutes on one GPU. Not only did formal verification find conditions that broke the clear-trained policy without simulation testing, it provided some preliminary evidence for potential failures between the test cases. Our overall conclusion is that formal verification is a viable complement to simulation, and could be adopted as a part of verification and validation for automated driving.

Recent multimodal sentiment analysis studies increasingly adopt text-centric fusion approaches to exploit the rich sentiment information inherent in the textual modality. However, these approaches often suffer from performance degradation during inference due to partially missing or noisy data in real-world scenarios, especially when sentiment-related cues are missing. To address this issue, we introduce a new completeness estimation approach that quantifies the degree of sentiment-relevant information preserved in incomplete data to guide the reconstruction of missing semantics. Furthermore, we propose a training strategy that stabilizes multi-task learning while jointly optimizing sentiment prediction and completeness estimation. Extensive experiments and in-depth analyses on three benchmark datasets demonstrate that the proposed approach enables more accurate semantic reconstruction, leading to more precise sentiment prediction.

We develop a framework for offline full-window branch discovery, optionally followed by online continuation with an ensemble Kalman filter (EnKF). Three mechanisms drive the branch search: adjoint path-kernel (APK) differentiation balances kernel differentiation and correction-stabilized path perturbation, shifting the optimization from exploration to exploitation; an optimized Gaussian initial law broadens the search over initial-state basins; and loss-weighted mixing across independent runs recombines successful path components. We may then select an interior state using a local loss and continue online with an EnKF. In 40-dimensional Lorenz-96 experiments, the mean offline path RMSE of APK is 4.3 times smaller than that of population weak-$\mathrm{4D\text{-}Var}_x$. The resulting APK-EnKF method has a mean online RMSE 64 times smaller than that of ordinary EnKF.

Multimodal large language models predict brain activity, but brain alignment has been a measurement, not a design tool. We propose the Platonic brain bridge hypothesis: omni models, multimodal large language models that process video, audio and text jointly, converge on brain-like representations usable in both directions. From model to brain, brain-likeness of seven omni models is stable across participants, rises with every input channel in three bases, and our encoders lead the Algonauts 2025 out-of-distribution leaderboard. From brain to model, Brain-MoE fixes the expert partition of a frozen base to the seven networks of human cortex, trains experts on network-labelled Brain-AVQA questions, raises held-out accuracy in all 15 model-benchmark pairs by 6.42 percentage points on average and exceeds capacity-matched random experts in 14. Brain-Scope localizes the correspondence to sparse features whose removal weakens brain prediction. Human brain organization is therefore a usable architectural prior for multimodal large language models.

Large language models (LLMs) are increasingly used to generate and assist with software development, yet existing vulnerability datasets largely focus on human-written code or controlled prompting environments. This limits the ability to study security weaknesses in LLM-generated code as it appears in real-world software projects. We present LLMVul, a vulnerability-labeled dataset of LLM-generated C/C++ functions mined from real production repositories. We mine AI-assisted development activity from GitHub over a 4 year period, from November 13, 2022 to September 3, 2026, using provenance signals such as commit metadata and AI-related authorship evidence. After filtering and deduplication, LLMVul contains 21,430 unique C/C++ functions from 226 repositories, together with repository, commit, function, provenance, and AI-tool metadata. We establish vulnerability labels using an ensemble of complementary static-analysis and pattern-based techniques and assign Common Weakness Enumeration (CWE) categories to confirmed vulnerable functions. To assess labeling reliability, we additionally conduct independent manual annotation and measure inter-rater agreement using Cohen's kappa ($k=0.79$). LLMVul contains 1,540 ensemble-vulnerable functions spanning 17 unique CWE categories, providing substantially more real-world LLM-generated vulnerable C/C++ functions than existing vulnerability-oriented LLM code benchmarks. By preserving both code-level vulnerability labels and generation/provenance metadata, LLMVul enables reproducible research on vulnerability detection, security evaluation of LLM-generated code, and analysis of vulnerability patterns in AI-assisted software development. The LLMVul dataset is publicly available at https://doi.org/10.5281/zenodo.22668216.

Hurricane Helene produced the largest absolute cell-site outage in the public FCC record, peaking at 4562 sites. The conventional model is physical: towers destroyed. Helene did destroy over 1700 miles of fibre, but almost none of it was cell sites. We present the first cause-decomposed study of the FCC's Disaster Information Reporting System, reconstructing 80 state-days and 580 county-days from 24 daily filings by two reconciled independent extractions. Damage to cell sites is negligible: 1.1% of attributed cell-site-days across six states, at most 3.8% anywhere. The sites were standing. What took them out divides by terrain: pooled, power dominates at 63.2%, but in mountainous North Carolina severed transport (backhaul) reaches 52.2% against 47.3%, and in Tennessee 69.9%. North Carolina's transport share rises from 7.0% to 85.0% across the event (h̊o} = 0.92). Seventeen days after landfall, on 15 October, 47 sites lost transport across six contiguous North Carolina counties with no rainfall, no power loss, no damage, and recovery by the next report. Independent active-probe measurement corroborates it: responsive /24s fall 1.02% for twelve hours while Tennessee stays flat. We release the dataset. Backup power is the standard resilience investment; here it addresses the smaller half of the problem.

The integration of large language models (LLMs) into video generation has enabled rapid text-to-video creation and improved visual quality. However, it still falls short of professional filmmaking, where cinematographic language is less refined than human-crafted camera work and multi-shot continuity remains challenging. To address these limitations, we introduce CamPilot, a multi-agent framework that integrates cinematographic planning and camera-work control to produce more coherent, logically structured, and human-aesthetic movies. CamPilot adopts a GRPO-based learning paradigm to learn camera work planning from 14K real-world professional movies, internalizing motion patterns and composition principles that support reasoning over shooting techniques (e.g., camera angle, motion, and focal behavior) and cross-shot relationships for controllable camera-viewpoint generation. Multiple agents further collaborate and evolve to improve overall output quality. To support this work and further studies in this domain, we establish CamEval, a benchmark for evaluating camera work quality and cinematic engagement. Empirical results show that CamPilot outperforms state-of-the-art text-to-movie generation methods on cinematographic control and quality, highlighting the impact of professional camera design on movie generation.

Blind or low vision (BLV) students are less likely to graduate from college, particularly in computing. Prior work documents accessibility challenges in high school and college, but we lack understanding of the transition process that produces this "leaky pipeline." To address this, we interviewed ten BLV college students about going to college to study computing. We analyzed our data through the lens of life transition, specifically Intersecting Liminality. Our findings reveal that some BLV students face such immense digital accessibility and college acclimation barriers that the only way forward as coders is to take on a "second job" as a blind advocate or drop out of the computing major. We argue that the college transition is a critical point for analysis and technological intervention, and further, that Intersecting Liminality provides a useful lens for HCI scholars to unpack the compounding challenges that prevent some BLV students from completing computing degrees.

This paper studies weighted decoding-delay minimization for multiple RLNC-coded message streams that compete for finite processing capacity at a destination. Packet arrivals are exogenous, while the scheduler only determines the processing order of packets already available at the destination. A trace-conditioned offline scheduling formulation shows that a batch-release subclass is strongly NP-hard even with a single processing unit. Message-Aware Innovation-Deficit Scheduling (MAIDS) is then developed to prioritize each serviceable message according to its weight and remaining decoding deficit. For a single processing unit, MAIDS is shown to be exactly optimal under nonblocking progressive arrivals with equal weights and under common activation with arbitrary positive weights, while the unrestricted weighted online problem admits no universal deterministic $O(1)$ competitive ratio. Simulation results on streaming and batch benchmarks show that MAIDS consistently reduces weighted decoding delay relative to the tested baselines, remains close to the offline optimum on average, and recovers the predicted exact performance boundaries.

Clinical education must prepare medical students to conduct safe and coherent patient interviews under conditions of uncertainty. Traditional standardized patient (SP) training is resource-intensive and difficult to scale. We developed a scaffolding-oriented multi-agent Large Language Model (LLM) AI Standardized Patient (AI-SP) training platform1. The system includes a patient agent for simulated dialog, a tutor agent providing Socratic prompts without disclosing diagnostic information, and a turn-level evaluator agent that monitors clinical progress without revealing summative scores. In a randomized controlled study (N = 100 medical students), participants were assigned to either a multi-agent (MA) scaffolding condition or a control condition. All students completed two learning sessions under their assigned condition followed by an examination conducted in a patient only environment. Performance was assessed using a standardized Objective Structured Clinical Examination (OSCE) based rubric. While no significant difference was observed in final diagnostic accuracy between groups, the multi-agent AI standardized patient system improved final examination scores compared to the control group utilizing structured progressive information disclosure; the most substantial and consistent improvements were observed in communication, the expression of empathy, and specific history-taking behaviors. These findings suggest that specialized LLM agents enhance the process quality of simulated clinical interviews without artificially inflating examination outcomes. To support future research, we release a multi-expert annotated dataset comprising transcripts, checklist annotations, turn-level evaluations, and OSCE-aligned scoring outcomes. This resource aims to facilitate the development of pedagogically grounded AI-SP systems and advance research on AI-supported clinical reasoning training.

Agentic search and automated optimization of GPU kernels are powerful tools for large language model inference. Their effectiveness, however, depends not on the sophistication of the search itself, but on the clarity of the optimization problem being solved. We provide an application-first approach that drives a hierarchical code generation tool from operator specifi cation down to GPU instructions, and show that a clearly defined computational model makes the optimization problem tractable.

Membership inference attacks (MIAs) try to determine whether a specific record was used to train a model, a privacy risk that matters in natural language processing (NLP), where training data can contain sensitive user text. This paper presents a controlled benchmark of membership inference vulnerability for text classification on the GLUE SST-2 sentiment dataset. A TF-IDF + Logistic Regression pipeline and a fine-tuned DistilBERT classifier are compared under a loss-threshold MIA, with utility measured by development accuracy and macro F1. DistilBERT reached 0.9466 accuracy and 0.9460 macro F1 against 0.8756 and 0.8727 for Logistic Regression, yet both models leaked membership signal (Attack AUC 0.5615 and 0.5800, respectively). Two mitigations were tested. Stronger regularization reduced leakage for Logistic Regression at a visible utility cost, whereas fine-tuning DistilBERT for 2 epochs instead of 3 reduced leakage with negligible accuracy loss. Lightweight training adjustments can improve the privacy-utility trade-off without complex defenses.

Turn-taking is a fundamental mechanism that governs when interlocutors speak and listen. Although Spoken Dialogue Systems (SDS) exploit a range of linguistic, acoustic, and non-verbal cues, they produce ill-timed responses in unscripted interaction. A central challenge is anticipating Transition Relevance Places (TRPs), or opportunities, not obligations, for a listener to take the floor. Human listeners do not wait for turn endings; as an utterance unfolds, they use expectations about its developing meaning to anticipate TRPs and decide whether to take the floor. We examine whether these evolving expectations can be modeled through semantic uncertainty – an LLM-derived measure of how strongly a turn so far constrains what may plausibly come next. To do so, we sample possible continuations of an ongoing turn and use changes in semantic dispersion to identify TRPs within turns. We evaluate this account on a dataset with TRP labels derived from real-time listener responses, rather than retrospective annotation. Our approach substantially outperforms prompt-based and fine-tuned text-only baselines, providing empirical support for the view that evolving semantic constraints inform perceived turn-taking opportunities in unscripted interaction.

Maximizing the area under the receiver operating characteristic curve (AUC) is a standard approach to imbalanced binary classification. Although positive and negative data are required for maximizing the AUC, negative data are often difficult to collect in some real-world applications due to privacy concerns or the need for specialized expertise to annotate them. Thus, AUC maximization from positive and unlabeled (PU) data has been attracting attention. Existing methods assume that labeled positive data are unbiased samples from the true positive distribution. However, this ideal assumption is often violated in practice. In this paper, we propose a method to maximize the AUC from biased PU data. To address the bias, our key idea is to exploit confidence, i.e., the probability that an instance is positive, associated with the small number of labeled positive data. We derive an estimator of the AUC risk using biased PU data with confidence, enabling AUC maximization under such bias. We further show that the rewritten AUC risk induces a Bayes-optimal AUC ranking even when the available confidence is any strictly increasing transformation of the true posterior probability. We experimentally show the effectiveness of our method on eight real-world datasets.

Graph captions should help readers understand graph structure, rather than simply translate adjacency matrices into long textual edge lists. A useful graph caption abstracts connectivity into recognizable motifs, such as hubs, paths, cycles, cliques, and bridges, because these motifs provide compact structural units that are easier to read, compare, and recover. In this paper, we study motif-oriented graph captioning as a bidirectional graph-text translation task, where captions must both preserve enough topology for graph recovery and express the graph through concise motif-level descriptions. We show that direct prompting of GPT-5.1 often produces graph-recoverable captions by enumerating node-to-node connections, but these captions are verbose and can contain inconsistent motif interpretations. To address this gap, we introduce Structurally Speaking, a lightweight structured prompting protocol that guides translation between explicit connectivity and motif-level abstraction. Experiments on a synthetic motif-based dataset show that structured prompting produces shorter and more motif-consistent captions while maintaining comparable graph recovery. These results suggest that explicit topology-to-motif reasoning guidance can make LLM-generated graph captions more interpretable without model fine-tuning.

Auto-research agents have shown the potential to automate hypothesis generation, experiment execution, and iterative refinement. However, scaling this paradigm to industry-scale recommendation models introduces two challenges: (1) long feedback loops, where model training can take days, making serial iteration prohibitively slow and requiring parallel exploration across multiple research directions; and (2) system complexity, where large configurations, fragile infrastructure dependencies, and multi-day GPU jobs require robust and recoverable execution. We present Auto-RecSys, an autonomous research system for long-horizon experimentation on industry-scale recommendation models. Auto-RecSys addresses these challenges through three harness designs: (1) distributed asynchronous execution for running multiple experiments in parallel across servers, (2) centralized cross-server memory for persistent and recoverable execution across sessions and failures, and (3) cognitive-procedural separation, where natural-language skill files guide LLM reasoning while deterministic scripts enforce operational correctness. Auto-RecSys further employs a dual-loop self-evolving architecture: an Execution Evolution Loop in which model-specific playbooks accumulate operational knowledge by recording failed attempts and crystallizing successful pipelines, and an Idea Evolution Loop in which experimental outcomes inform subsequent ideation. Evaluated on recommendation models, Auto-RecSys significantly reduces the human time required per experiment cycle and improves execution reliability as its playbooks mature.

Numerical integration studies how well one can estimate the integral of a function $f$ over $[0,1)^d$ using $n$ sample points. The two classical methods, Monte Carlo (MC) and quasi-Monte Carlo (QMC), have complementary strengths and weaknesses, and a fundamental question is to design an approach that combines the benefits of both. Recently, building on the transference principle in discrepancy theory, Bansal and Jiang~\cite{BJ25a} gave a randomized QMC method that bridges MC and QMC guarantees using only i.i.d.\ samples. Their method also goes beyond the classical Koksma–Hlawka inequality: it achieves integration error $\widetilde{O}_d(\sigma_{\mathsf{SO}}(f)/n)$, where the smoothed-out variation $\sigma_{\mathsf{SO}}(f)$ can be substantially smaller than the Hardy–Krause variation that governs the classical bound. However, their algorithm requires $n^2$ i.i.d.\ samples as input, and this quadratic blowup is inherent to any method based on the transference principle. In this work, we bypass the quadratic blowup: for any constant $\varepsilon > 0$, we show that $(1+\varepsilon)n$ i.i.d.\ samples suffice to both obtain the beyond-Hardy–Krause guarantee of~\cite{BJ25a}, resolving an open problem posed there, and to produce low-discrepancy point sequences. Our algorithms are variants of the online Haar-thinning method of Dwivedi, Feldheim, Gurel-Gurevich, and Ramdas~\cite{DFG+19}.

In the Navier–Stokes equations, incompressibility allows rewriting the viscous term in various forms leading to distinct numerical properties and flow descriptions. Furthermore, models accounting for non-Newtonian, thermal or turbulent effects often break the constant-viscosity assumption, thereby producing additional consistency terms. In this context, the present work compares the classical symmetric-gradient diffusion term with more recent variable-viscosity generalizations of the Laplacian and rotational forms. We discuss, analyze and test their differences with respect to implementation, efficiency, numerical stability and outflow boundary conditions. With a focus on time-dependent flows, we consider second-order implicit-explicit (IMEX) temporal discretizations aimed at improving efficiency and numerical stability. Through a rigorous stability analysis, we show how selected explicit treatments can bypass algorithmic nonlinearities without inducing CFL conditions. Our numerical results highlight important differences between the three viscous formulations—especially in the presence of outflow boundaries, for which the generalized Laplacian form proves more suitable in diffusion-dominated regimes. %(as widely known for constant viscosity).

Imitation learning has achieved impressive results in robotic manipulation, yet most existing approaches assume clean backgrounds and lack explicit mechanisms for obstacle-aware motion generation. Extending such policies to cluttered, real-world scenes with unstructured obstacles remains a key generalization challenge. We present ObstaDiff, a decomposed diffusion-policy framework with a lightweight obstacle-aware visual encoder. ObstaDiff extracts a structured target-obstacle-background representation, enabling the downstream alignment policy to generate end-effector trajectories toward a target-centered bottleneck pose while reasoning about surrounding obstacles. We evaluate ObstaDiff on 61 real-robot greenhouse trials per method (366 executions in total). ObstaDiff achieves 75.41% average task success and 8.20% average obstacle collision rate, outperforming representative imitation-learning baselines and improving generalization in cluttered agricultural scenes.

Texture recognition remains challenging for modern vision models because discriminative evidence is often carried by higher-order spatial statistics rather than by object shape alone. While Vision Transformers provide strong long-range modeling capacity, their standard object-centric representations do not explicitly expose such statistical structure, which limits texture sensitivity in fine-grained recognition settings. We present HiPerViT, a compact vision-only architecture that injects an explicit second-order statistical prior into a transformer-based recognition pipeline. The method combines global and local image views with a compact bilinear descriptor encoded as a statistical token, and integrates this token with first-order spatial representations through Perceiver-style latent distillation. This design enables direct interaction between spatial tokens and second-order feature co-occurrence statistics, providing the model with explicit access to texture-relevant information without requiring multimodal pretraining or ensemble construction. Across six texture recognition benchmarks, HiPerViT achieves consistent improvements over strong vision-only baselines under the reported evaluation protocols, including gains of +3.05 percentage points on DTD, +10.48 on GTOS-Mobile, and +10.10 on 1200Tex. Beyond benchmark performance, our analyses show that these gains are largely invariant to the backbone depth used to extract second-order statistics and to the ordering of interaction and distillation stages. This pattern suggests that the primary source of improvement is not a specific fusion topology, but the explicit availability of second-order statistical information as a first-class representational signal. These results support explicit statistical tokenization as an effective and robust design principle for texture-centric visual recognition.

A point set is universal for planar graphs on $n$ vertices if every such graph has a straight-line drawing without crossings whose vertices belong to the set. We construct universal point sets of size $n^{1+o(1)}$, improving the previous quadratic upper bound. Our construction uses the reduction of Bannister, Cheng, Devanny, and Eppstein from universal point sets to superpatterns for $213$-avoiding permutations. We represent these permutations by ordered rooted forests and construct a small family of intervals containing every such forest. The result follows from a straightforward bound on the size of the family of intervals. GPT-6 Astra assisted in developing the construction and proof.

Vision-language-action (VLA) policies leverage pretrained vision-language backbones to achieve strong cross-task generalization. A leading design couples this backbone with a dedicated continuous action head trained via diffusion or flow matching. However, such heads rely on iterative multi-step sampling, for example 10 Euler steps in $\pi_{0.5}$. This creates an inference bottleneck that produces stop-and-go movement in the robot and slower task completion. We introduce IMLE-VLA, which replaces the iterative action head with a single-step conditional generator trained via conditional Implicit Maximum Likelihood Estimation (cIMLE). The cIMLE objective promotes multimodal action coverage, avoiding the mode collapse of naive regression heads while eliminating multi-step sampling entirely. When IMLE-VLA is applied to $\pi_{0.5}$, it increases inference frequency 3.67x (55 Hz vs. 15 Hz), enabling up to 11x higher action throughput. On the 40-task LIBERO benchmark, IMLE-VLA achieves the highest average success rate (98.0%) among all baselines while leading in inference frequency. Under the test-time perturbations of LIBERO-plus, IMLE-VLA retains $\pi_{0.5}$'s robustness while other baselines degrade sharply, confirming that the cIMLE head preserves generalization. Real-world experiments on a Franka Emika Panda across four tasks demonstrate smoother motion (2.2x to 3.0x lower jerk) and faster task completion, with IMLE-VLA outperforming $\pi_{0.5}$ on every task and reducing average VLA inference time per episode by 3.9x to 6.6x. Videos and code are available at https://kianhk6.github.io/IMLE-VLA/

Both humans and AI exhibit systemic biases, yet little is known about how interface design can foster fairness in hybrid human-AI decision-making. This paper introduces a method for extracting fair data samples from biased datasets and adapts a fairness-explanation technique to highlight potential AI bias during decisions. We conducted a within-subjects study (n=48) where non-experts made decisions across three conditions: independent human judgment, unexplained AI assistance, and AI assistance augmented with visual ethnic-bias explanations (Fair-XAI). To isolate effects, the AI conditions provided systematically balanced recommendations. Results show that fairness explanations significantly reduced both sex and ethnic bias compared to human-only decisions. Fair-XAI also marginally improved fairness over balanced AI recommendations while enhancing task performance. These findings demonstrate that fairness-centered explanation interfaces can meaningfully shape user behavior, providing concrete design insights for developing equitable and accountable human-AI systems.