Papers

Matrix-valued memories make rank the natural budget of a learned representation: the number of independent directions a state spans bounds what it can bind, compose, and track. We report causal evidence, on a group-composition testbed trained under a hard single-state bottleneck with a fixed decoder that cannot launder rank, that gradient descent recruits precisely the rank the task's algebra demands. A companion paper [Larson, 2026a] establishes the analogous recruitment and causal necessity pattern on a $K$-pair associative-binding testbed, where exact recovery provably requires state rank at least $K$; this paper inherits that instrument and extends the rank law from a scalar capacity bound to a representation-theoretic one. We train toward chosen minimal faithful reference representations embedded in larger matrices. On group-composition state tracking over five finite groups spanning the solvable/non-solvable divide, the recruited rank equals the group's minimal faithful real representation dimension $d_{\min}$ (Spearman $\rho = 0.9747$, the design's tie-capped maximum), the dimension-matched solvable/non-solvable pair $S_4$/$A_5$ is statistically equivalent under a pre-registered test, and a pre-registered force-rank test separates a guaranteed similarity ceiling from empirical recovery at the target dimension: one rank below $d_{\min}$, cosine similarity is capped by the target's tied unit spectrum at $\sqrt{(d_{\min}{-}1)/d_{\min}} \le 0.894$, below the $0.9$ threshold in every group by construction, with observed cells at 86-95% (mean 91%) of that ceiling; at $d_{\min}$, not guaranteed a priori, recovery clears the pre-registered anchor-relative bar at four seeds per group in all five groups. Within this testbed, measured effective rank tracks representation dimension; the matched-dimension $S_4$/$A_5$ comparison establishes equivalence within the pre-registered tolerance.

Animals coordinate their movements through distributed neural circuits, but soft robots still typically depend on external, centralized electronics for control. Building soft robots that operate without centralized electronic controllers while remaining responsive to their environment remains a frontier challenge in soft robotics. In this work we introduce a soft-robot control architecture inspired by leaky integrate-and-fire models of biological neural circuits. The Pneumatic neuron (Pneu-ron) is a soft actuator that unifies energy conversion, logic, and actuation in one component. Each module combines a low-boiling-point fluid (LBF), a heater, and a mechanical switch into a self-excitable unit. Boiling the LBF inflates the module and triggers excitation and inhibition of adjacent modules in a process we call "inflate-and-fire". When interconnected into excitatory-inhibitory rings, Pneu-rons generate stable, sequential oscillations whose frequency emerges from the material dynamics and environmental conditions. By harnessing the inflation of Pneu-rons for actuation these networks can drive oscillatory locomotion of soft robots. Pneu-ron networks sustain oscillation under mechanical load and thermal variations, adapting through material physics rather than computation. Dynamical modeling of these networks reveals a dimensionless bifurcation diagram that dictates the network's oscillatory behavior. Encoding logic and actuation into material-level modules presents a new avenue for adaptive, electronics controller-free, soft robots.

The climate literature has grown faster than review teams can read it. That gap matters most for a concept like the environmental social tipping point, the threshold at which a small change triggers rapid, self-reinforcing change in a social system. Evidence of this kind of shift is usually contained in one or two paragraphs within a longer document. As a result, existing text mining tools-which categorize entire documents by topic or highlight isolated claims-leave an expanding set of important evidence without any systematic method for discovery or organization. This paper presents an open and modular transformer-based framework that detects and structures social tipping point evidence at the passage level. The framework joins five components into a single deployable workflow: a DistilBERT boundary splitter for segmentation, an iteratively augmented RoBERTa classifier for detection, a Mistral 7B model that rewrites each detected passage for clarity, a LLaMA 3.2 3B model that rates the passage against five published social tipping point criteria, and a Milvus vector store for semantic retrieval. The system is wrapped in a Streamlit interface backed by MinIO object storage. Evaluated on a 163-passage benchmark labelled by GPT-4.1 and a 51-passage set reviewed by experts, the splitter surpassed three competing methods on a nine-metric composite score (6.137). The tuned RoBERTa model achieved 71.4 percent accuracy with a Cohen's kappa of 0.337 on the full benchmark, and 87.5 percent accuracy with a kappa of 0.742 on passages with labels, outperforming both a climate-focused model and untuned language models.

We propose DriftSE, a novel one-step generative framework for speech enhancement formulated as a latent distribution equilibrium problem. During training, the drifting field aligns the generator's pushforward distribution with the clean speech manifold through drifting in a latent domain. During inference, the drifting process is discarded, enabling one-step generation. We establish that its enhancement quality depends fundamentally on the choice of latent representation. Semantic latents preserve phonetic structure but fail to capture physical acoustic cues, whereas acoustic latents reconstruct the physical signal but risk linguistic hallucination. Therefore, we introduce dual-latent drifting, performing parallel drifting in both semantic and acoustic latents to simultaneously preserve phonetic intelligibility and acoustic fidelity. Additionally, we demonstrate that DriftSE enables fully unpaired training by aligning latent distributions rather than exact point-wise targets. Consequently, DriftSE facilitates cross-dataset learning in the absence of paired noisy-clean samples. Moreover, DriftSE exhibits broad architectural flexibility across different generator backbones. Extensive evaluations on additive denoising and convolutive dereverberation demonstrate robust one-step enhancement across both offline and real-time causal settings. Notably, DriftSE achieves state-of-the-art word error rates across all four evaluated datasets while strictly operating at 1 NFE. Code and audio examples are available online.

This work develops a Lyapunov framework for a broad class of arbitrary-order sliding-mode algorithms in multi-agent systems. We introduce abstract homogeneous chains, a class of nonlinear error systems characterized by common convexity and homogeneity properties. For this class, we establish global finite-time stability for arbitrary order, construct a homogeneous Lyapunov function, and derive a recursive optimization-based gain-proposal procedure. The framework addresses several gaps in existing dynamic average consensus and distributed differentiation results: it provides a recursive numerical optimization-based gain-proposal procedure for EDCHO at arbitrary order, extends REDCHO convergence from local to global, and provides arbitrary-order numerical gain-proposal rules for leader-follower distributed differentiation, previously available only at first order. It also provides a new arbitrary-order observer for multi-leader affine formation tracking with global finite-time convergence.

Dynamically feasible trajectory optimization for rigid-body systems is naturally formulated on the special Euclidean group SE(3) but is challenging when dynamics are available only as black-box computations without derivatives. This paper formulates the Trajectory Bundle Method (TBM) for motion planning implicitly on SE(3). Bundles are constructed in the Lie algebra and propagated through nonlinear rigid-body dynamics using exponential and logarithmic maps, enabling derivative-free planning of non-Euclidean trajectories. We show that Euclidean TBM interpolation error is bounded quadratically by bundle diameter and extend this result to SE(3), where the bound additionally depends on a local Lipschitz constant of the Log map. Numerical experiments corroborate these bounds. Finally, we demonstrate SE(3) TBM by optimizing an acrobatic, collision-free fixed-wing maneuver through a rotated aperture without explicit models or derivatives of the vehicle dynamics, aerodynamics, or collision model.

Neuro-symbolic models are usually trained with supervision only on final labels, leaving the intermediate concepts unobserved. Since many concept assignments are consistent with a given label, training can predict labels correctly while recovering the wrong concepts, a failure known as a reasoning shortcut. Prototypical networks reduce shortcuts by anchoring each concept to a few labeled examples, but existing methods still couple perception and reasoning through a hand-crafted, task-specific differentiable loss that must be redesigned for every task. We introduce Soft-PNet, which removes this loss: it reframes concept grounding as a Metropolis walk over a precomputed cache of feasible symbolic solutions, guided by a prototype distribution built from a single labeled anchor per concept, and trains against one KL objective between the prototype-weighted cache and the network's concept predictions. The objective is identical across tasks and remains applicable when the solution space cannot be enumerated. On MNIST-EvenOdd, Visual Sudoku, and Kand-Logic under scarce supervision, Soft-PNet matches loss-engineered prototypical networks at the concept and label levels and recovers concepts that soft-grounding baselines miss, with no loss engineering and lower training time.

Diffusion-based robot policies have become widely used in robotic manipulation, where they are typically trained with behavior cloning. However, policies trained purely from demonstrations are limited by the quality and coverage of the available data. Reinforcement learning can further improve the performance of these pretrained policies through interaction. A common approach is to use policy-gradient methods that formulate diffusion-policy fine-tuning as an outer environment MDP together with an inner denoising MDP. However, existing methods typically assign the same environment-level credit to all denoising steps used to construct an action chunk, without distinguishing which intermediate decisions contributed most to the final return. We introduce Denoising Intermediate Advantage (DIA), a policy-gradient method that learns a value function over partially denoised actions and uses it to construct a denoising level advantage for each step of the generative process. DIA combines this inner credit signal with the standard environment-level PPO advantage, providing state-dependent credit throughout the denoising chain. Across Robomimic, FurnitureBench, Franka Kitchen, and D3IL, DIA consistently improves final performance over existing diffusion-policy fine-tuning methods. Beyond final reward, DIA reaches successful states more efficiently and can shift farther from the pretrained behavior distribution, enabling it to discover more effective and efficient task-level strategies and subtask sequences that baseline methods fail to reach.

In sub-terahertz (sub-THz) communications, the coupling of ultra-wide bandwidth and severe phase noise (PN) impairments renders conventional joint channel and PN estimation highly complex and computationally prohibitive. To address this, we propose CRFCAN, a complex-valued residual FFT convolutional attention network designed for joint channel and PN estimation. Unlike existing deep learning schemes that rely on cascaded networks or hybrid frameworks combining neural networks with conventional iterative estimators, CRFCAN performs joint recovery in a truly end-to-end fashion through a physics-inspired cross-domain structure. Specifically, Fast Fourier Transform (FFT) and inverse FFT modules are embedded within residual groups to enable iterative feature interaction across the time and frequency domains, thereby capturing both frequency-selective fading and time-varying phase distortions. In addition, two dedicated residual blocks are introduced for complex feature extraction and multiplicative phase-distortion modeling, respectively. A physics-aware PN output tail with soft normalization is further employed to improve estimation stability while preserving the physical characteristics of the effective PN process. Simulation results demonstrate that CRFCAN significantly outperforms conventional algorithms and state-of-the-art deep learning models in terms of normalized mean square error (NMSE) and bit error rate (BER). Notably, CRFCAN achieves superior performance with single-shot, fixed-complexity inference and generalizes well to unseen PN models without fine-tuning, highlighting its robustness and practicality for sub-THz receivers.

Inference-time power sampling via Sequential Monte Carlo (SMC) can substantially improve large language model (LLM) reasoning without requiring post-training. However, many existing SMC approaches rely on equal-weight resampling, which can aggressively prune low-weight trajectories, discarding potentially correct reasoning paths and degrading the genealogical diversity of the search space. To address this, we introduce Chopthin-Consensus Power Sampling (CCPS). Our method applies the Chopthin resampler to LLM decoding: rather than equalizing weights and forcing unnecessary particle duplication, it enforces an upper bound on the ratio between the largest and smallest weights and carries the unequal weights forward. This targeted intervention preserves a richer set of distinct reasoning paths, keeps the weighted SMC approximation unchanged in conditional expectation, and guarantees a lower bound on the post-resampling effective sample size (ESS). To fully exploit this enriched population, we employ a semantic-majority selection mechanism that merges token-identical final trajectories, clusters semantically equivalent answers, and returns the answer supported by the largest number of distinct trajectories. Evaluating across three open-weight models and five reasoning benchmarks, we show that Chopthin increases oracle coverage in 13 of 15 settings. Combined with semantic-majority selection, CCPS matches or exceeds the final-answer accuracy of the Power-SMC baseline in 14 of 15 settings, delivering absolute gains of up to 10.6 percentage points. These findings demonstrate that diversity-preserving resampling and diversity-aware selection are complementary mechanisms for training-free LLM reasoning. Code is available at github.com/MinooAhmadii/chopthin-consensus-power-sampling.

Proxy-based Internet censorship circumvention tools like Snowflake rely on large, dynamic pools of third-party proxies to resist IP-based blocking. We focus on two assumptions underpinning the security of Snowflake: that adversaries cannot easily enumerate proxy IPs, and that blocking those proxies would incur unacceptable collateral damage. In this paper, we test these assumptions by studying practical enumeration and blocking attacks against Snowflake conducted by malicious clients. We combine bounded, ethical real-world measurements with large-scale simulation to evaluate both present-day enumeration and blocking risk and broader attacker capabilities. Over 48 days of real-world measurements from May–June 2025, our attack enumerated over 21,000 unique proxy IP addresses belonging to almost 1,000 autonomous systems. Despite this high number, we find that proxy churn limits the overall effectiveness of enumeration over time, and reduces the impact on clients of individual proxy addresses being blocked. However, at the network level, blocking the top 1% of observed autonomous systems blocks more than 30% of observed Snowflakes while affecting 0% of Tranco Top 100 domains and ~2.5% of Top 1M domains. We discover that the broker's load-aware matching reveals stable, high-capacity proxies to attackers early, especially during periods of elevated demand such as the censorship even in Iran of June 2025, subsequently exposing the networks that contribute disproportionately to system connectivity. In simulation, increasing attacker scale sharply improves both enumeration and blocking success, while higher proxy churn significantly reduces blocking effectiveness. We conclude by discussing and evaluating practical mitigations, some of which have been integrated into Snowflake.

For $1<p<2$, the $p$-Laplace equation and its $p$-Stokes generalization are difficult to solve numerically. Newton's method converges rapidly only close to the solution, with iteration counts that grow under mesh refinement and deteriorate as $p\to1$. The more robust Picard iteration converges only linearly. Rather than globalizing or preconditioning Newton's method, we modify the system to which it is applied. We lift the equation by introducing the flux $|\nabla u|^{p-2}\nabla u$ as an auxiliary (or ”lifting”) variable, apply a nonlinear transformation to the resulting constitutive relation, linearize, and eliminate the auxiliary variable by static condensation. Lifting alone leaves the linearization unchanged; it is the preceding transformation that yields the new method. The elimination is algebraic and pointwise at the quadrature points, so the flux variable is never discretized, no inf-sup condition or indefinite system arises, and the cost per iteration is that of a standard Newton step. Together with a pointwise feasibility bound on the lifting variable that keeps the diffusion tensor uniformly positive definite, this yields an iteration that we prove, in finite dimensions and for the $p$-Laplace equation, to converge globally and locally at a quadratic rate; a one-dimensional model problem explains why the lagged flux variable removes the zig-zag behavior of standard Newton for $p$ close to one. Firedrake-based experiments for $p$-Laplace problems in two and three dimensions and for stationary and time-dependent $p$-Stokes flows show iteration counts largely insensitive to $p$ and to mesh refinement, and up to an order of magnitude fewer iterations than standard Newton for $p$ close to one.

This paper presents a precise executable specification—as a faithful mapping from the pseudocode—of Paxos for System Builders, a practical protocol for replication and consensus in distributed systems. Paxos for System Builders has both a robust implementation in C and a clean pseudocode for critical protocol details. This paper shows how the protocol pseudocode can be expressed easily, essentially line-by-line, in a precise high-level language, DistAlgo, for direct execution in distributed systems. Precise specification and direct execution help significantly in understanding the protocol logic and in automatically checking, tracing, and visualizing protocol runs. They also led to discoveries and fixes of small, difficult-to-catch omissions and liveness bugs in the pseudocode though not the C code. The resulting program also has acceptable performance while having similar size as the pseudocode.

Human-centric AI for software engineering means keeping humans responsible for work performed with AI. In Open Source Software (OSS), AI lowers the cost of implementing changes, but reviewing someone else's contribution remains comparatively expensive, so some projects now restrict who may contribute implementations while still welcoming other participation—not because the code is AI-generated, but because it no longer justifies the review cost. We call the resulting form a stewardship community: a small core retains implementation authority while a broader community continues to shape the software without writing code, and access to coding increasingly depends on approval rather than self-initiated contribution. This raises a broader question: what happens to the human community when coding agents let maintainers replace implementation work once supplied by external contributors? For human-centric software engineering, keeping humans in control of AI agents is not enough: AI can replace implementation labor while weakening how OSS communities renew themselves.

Reactive synthesis is a powerful tool for generating correct-by-construction controllers from formal specifications. GR(1) is an assume-guarantee specification framework that enables efficient synthesis, allowing synthesised controllers to be used in a wide array of applications. The limitation of such controllers is that, should they encounter environment behaviour unspecified in the assumptions of the specification, the specified system guarantees are no longer ensured. Our work proposes an approach based on oracle-guided inductive synthesis to adapt the specification to be consistent with the observed assumption violation, while degrading system guarantees as little as possible to maintain realisability. Our methodology discovers multiple potential solutions, so we propose a preference criteria, based on the ability of the specification to enable robustness under adaptation. Although our approach is capable of degrading the entire specification, for our case studies we successfully discover degradations that preserve the entire set of original guarantees.

Question-answering often requires reasoning across multiple connected facts rather than retrieving a single isolated relation. Knowledge graphs (KGs) provide a structured way to represent such facts, but training large language models (LLMs) only on isolated KG head-relation-tail triples may limit their ability to learn the surrounding context needed for multi-hop reasoning. In this work, we propose a context-augmented training framework for multi-hop question-answering. Although generally applicable, we validate the framework in the context of disease-specific KGs, extracted using a reliable KG extraction framework called GraphMERT, for Gastroparesis and Diabetes. For each primary KG triple, we attach supporting triples extracted from the same source text chunk to form a context graph (CG). This creates two supervision settings: KG-grounded supervision, which uses only the target KG triple or path, and CG-grounded supervision, which uses the target KG triple or path together with supporting context triples. We train the Qwen3-14B model using supervised fine-tuning (SFT) under both settings, producing KGModel and CGModel variants. To strengthen the lower-hop factual foundation of the models, we introduce an LLM-judged, history-aware adaptive repair pipeline that identifies unresolved one-hop failures, continually fine-tunes on targeted repair examples, and removes or quarantines problematic noisy triples. This repair stage enables the models to reach 100% accuracy on the cleaned retained one-hop validation sets. Finally, we employ reinforcement learning (RL) using lower-hop question-answer items and evaluate generalization on harder 3-hop, 4-hop, and 5-hop tasks. Across both diseases, context-augmented supervision consistently improves multi-hop performance over KG-only supervision. RL initialized from repaired SFT checkpoints yields larger and more stable gains.

Out-of-Distribution (OOD) data poses a significant threat to machine learning models, often leading to model failure during deployment. All existing OOD detection methods are post-hoc, relying on evaluation metrics such as accuracy and AUC-ROC during inference to indirectly assess the model's response to OOD data by measuring deviations. In contrast to existing approaches, the proposed work shifts the paradigm from OOD detection to OOD prediction by proposing a pre-hoc anticipatory framework called PLSP for OOD prediction. We make several key contributions: (a) a dataset-independent metric called the CREDibility Score (CREDS) is proposed for OOD prediction; (b) credibility curves are introduced to study the maximum credibility a model can attain; and (c) credibility heat maps (and volume under surface) are introduced to characterize pre-hoc model behavior across different datasets. This work provides a novel perspective on signal processing under distributional shifts. Experiments across multiple datasets demonstrate that the proposed metric serves as a valuable measure for improving the robustness of machine learning models toward OOD prediction.

Electronic health records (EHRs) may incompletely capture patient-reported factors associated with opioid use disorder (OUD). We evaluated whether survey data improve prediction of a first recorded OUD diagnosis among 267,747 All of Us participants with documented opioid exposure, including 15,287 OUD cases. We compared EHR-only and EHR+survey models across 6-, 12-, and 24-month look-back windows using logistic regression, random forest, XGBoost, LightGBM, multilayer perceptron, LSTM, GRU, and Transformer. Survey augmentation improved PR-AUC across all 24 model-window combinations by 0.0087-0.0505; the best 24-month LightGBM model improved from 0.6219 to 0.6603. Survey coverage increased with longer windows and differed by OUD status (24 months: 21.7% OUD-positive vs. 60.7% OUD-negative). Permutation analysis ranked survey features as the second most important information domain at 24 months in both evaluated models. Patient-reported data provide complementary predictive signals beyond structured EHRs while highlighting the importance of survey availability.

Collision cross section (CCS), derived from ion mobility mass spectrometry, is a common descriptor for molecular annotation. Prediction is challenging for machine learning models because it reflects the size, shape, and ionization state of a gas-phase molecular ion. Most predictors either ignore explicit 3D structure or treat adduct identity as a late categorical feature, which limits their ability to capture adduct-dependent geometric effects. We present GRACE (Geometric Residual Adduct Conditioning via Early-fusion), a 3D CCS predictor that adapts a pretrained molecular geometry encoder using geometric residual adduct conditioning via early fusion. GRACE combines two inductive biases: a residual objective relative to an adduct-aware physical descriptor baseline and adduct conditioning within the encoder via a learned adduct token and low-rank attention adapters. We evaluate the model on a curated set of over 9,000 experimental molecule-adduct CCS records with random, scaffold, and adduct-sensitive splits designed to separate interpolation, scaffold generalization, and adduct-driven generalization. GRACE achieves the best mean percentage difference among the evaluated learned models on all three splits: 1.67% on the random split, 2.11% on the scaffold split, and 2.36% on the adduct-sensitive split. Diagnostic analyses suggest that residual learning stabilizes training by removing the dominant mass-CCS trend, while early fusion improves adduct-sensitive prediction relative to late fusion. Across four independent external test sets, GRACE shows consistently lower error than the other evaluated models. On a held-out set, GRACE also attains the lowest mean percent difference when compared with four previously reported physics-based workflows. These results support residual learning and encoder-level adduct conditioning as practical inductive biases for fast, accurate CCS prediction.

Maintaining consistency over long spatial and temporal horizons remains a fundamental challenge in large-scale LiDAR SLAM, particularly when integrating maps collected across multiple sessions. We present Chain-SLAM, a LiDAR SLAM backend enabling online multi-session map alignment and reuse with global consistency at large scale. We implement a chained loop closure mechanism that efficiently propagates geometric constraints across inter-session keyframes through an adjacency graph, enabling robust long-horizon consistency triggered by reliable short-horizon loop closures. The system initializes inter-session alignment with GNSS-proximity place recognition, then performs on-the-fly loop closure detections and joint optimization of loaded maps and newly acquired trajectories within a unified factor graph, maintaining both inter- and intra-session geometric consistency without dynamic object removal, and cross-platform robustness with minimal hyperparameter tuning. Experimental results show improved trajectory accuracy and robust multi-session integration on large-scale datasets. We release our source code to support reproducible research in large-scale multi-session LiDAR SLAM. Project site: https://ai4ce.github.io/Chain-SLAM/

Aggregate performance in smart mobility systems depends heavily on the emergent behavior of selfish, resource-sharing agents that participate within the systems. As a result, recent work has focused on how a system designer can leverage incentives to influence behavior so that system cost (e.g., traffic congestion) is minimized. These results show that worst-case equilibria can be quite inefficient compared to system-optimal allocations. However, it is unclear to what extent agents are “satisfied” with their decisions in these worst-case scenarios. We demonstrate that in any incentivized atomic congestion game, agents' aggregate satisfaction at equilibrium (relative to their actions in an optimal allocation) is correlated with the efficiency of the corresponding system cost, in the sense that if agents are very satisfied with their equilibrium choices, the equilibrium must be relatively efficient. Further, we show that worst-case Nash equilibria are fragile, as every agent is indifferent between their action in a worst-case equilibrium and their action in a system-optimal allocation. In summary, at equilibrium, either agents are highly satisfied with their decisions or their decisions are highly inefficient, but both cannot be true simultaneously. This work adds to recent results for other classes of games which indicate that worst-case equilibrium efficiency guarantees only occur when agents are indifferent about their decisions.

We study the problem of tomography for $k$-sparse quantum states. In contrast to classical distribution learning, where tight sample and time complexity bounds in terms of support size are well understood, no non-trivial bounds were previously shown for this problem. We give the first near optimal algorithm for learning $n$-qubit $k$-sparse pure quantum states, obtaining fidelity at least $1-\varepsilon$ with high probability using $\tilde{O}(k/\varepsilon)$ copies of the state and $\tilde{O}(kn/\varepsilon)$ time. Both bounds are optimal up to polylogarithmic factors. As an implication, we also obtain an algorithm with near optimal $\tilde{O}(kr/\varepsilon)$ sample complexity for learning $k$-sparse rank-$r$ mixed states, via the random purification channel technique. Obtaining time complexity nearly matching the sample complexity, for $r>1$, remains an important open question.

The growing use of electroencephalography (EEG) motivates automated analysis that is accurate, transferable, and deployable on constrained hardware. Recent EEG foundation models learn general representations from large-scale pretraining, but their size and computational cost limit edge and wearable deployment. We introduce BRIDGE-EEG, an efficient multi-task EEG classification pipeline that preserves the benefits of pretraining while reducing model size. A unified preprocessing scheme maps heterogeneous recordings with different channel counts, montages, and sampling rates to a device-agnostic 62-channel time–frequency representation. We pretrain an SE-ResNet18 teacher (11.84 M parameters) with SimCLR on unlabeled EEG from five heterogeneous datasets, then compress it into SE-ResNet8 (1.56 M) and SE-ResNet4 (0.48 M) students using task-agnostic and task-specific distillation. We evaluate six benchmarks spanning abnormality detection, motor imagery, and emotion recognition. For abnormality detection and emotion recognition, the students achieve accuracy comparable to or better than several recent EEG foundation models with 10–1,000$\times$ more parameters. Motor imagery shows a remaining representation gap, highlighting the importance of pretraining diversity. Inference profiling on a server GPU, desktop CPU, and NVIDIA Jetson Orin Nano shows up to 3.0$\times$ lower edge energy per inference (15.64 mJ vs. 46.67 mJ). The compact models further support future deployment on MCU-class wearables.

Self-improving agent workflows create an audit problem when the same controller can change both its behavior and the conditions under which that behavior is judged. We present GuardrailLoop, a simulation-based testbed that makes three operational contracts jointly testable: preservation of human-defined policy, compute accounting at every recorded execution prefix, and recovery of a specified scientific state after crashes. A hash-pinned policy fixes goals, scope, evaluation identity, budget, and release conditions; machine-directed evolution is restricted to a code-owned feature catalog and bounded knobs. The contribution is an executable boundary and an evaluation protocol that separates useful adaptation, state recovery, and repeated execution. In a paired 50-seed 2 x 2 study, round-stage growth changes target attainment by +1.00 and restricted mean compute to target by -56.97 simulated GPU-hours (95% paired-bootstrap interval [-58.91,-54.70]); idle growth has zero measured utility effect. Across 240 enumerated crash injections, all runs recover the defined outcome, but only 210 preserve the normalized trace: 30 pre-commit crashes repeat a planner call. Resource-drift, kill-switch, integrity, and output-guard matrices satisfy their specified checks. These findings show why successful outcome recovery is insufficient evidence of exactly-once execution. They establish conformance within one calibrated deterministic testbed, rather than general safety or real-world self-improvement.

We determine a sharp threshold for the adaptable 2-colorability of a random graph equipped with a uniformly random, not necessarily proper, red/blue coloring of the edges. To accomplish this, we characterize a family of subgraphs along with edge colorings whose inclusion or exclusion determines adaptable $2$-colorability. We further show that above the threshold, a long path with alternating edge colors is formed. We use this path to prove the existence of such a subgraph in the supercritical regime. We then provide and prove symmetric bounds on the critical window for $2$-adaptable colorability. Particularly, we prove bounds matching that of the critical windows for the giant component in the Erd$\H{o}$s-R$\'e$nyi random graph model as well as the satisfiability of a random $2$-SAT instance. Finally, we show that below the critical window, the solution space of adaptable $2$-colorings remains connected, that is one can travel from one adaptable $2$-coloring to another by a sequence of $2$-colorings which differ on $O(\log{n})$ many vertices.

We study a graph simplification problem introduced by Bernstein, Bodwin, and Wein [ITCS'24]. We start with a graph with arbitrarily large positive edge weights and the goal is to reweight the edges to small aspect ratio (ratio between largest and smallest weight) while preserving the shortest paths structure (the sequence of vertices and edges along shortest paths). They studied whether polynomial aspect ratio is always possible. They proved that for general graphs, both directed and undirected, it is not: there exist graphs for which any shortest-paths preserving reweighting requires exponential aspect ratio. In contrast, they showed that every DAG (directed acyclic graph) admits a reweighting with linear aspect ratio. However, the resulting edge weights are not integers. This motivated them to pose the open question of whether all DAGs admit a reweighting with polynomially-bounded integer edge weights. Our main result is to answer this question in the negative: we prove that there exist DAGs for which any shortest-paths preserving integer reweighting requires weights of size $2^{\Omega(n)}$. In fact, this is even true when the DAG has very simple structure: 3 layers of vertices with only 3 vertices in the middle layer. In contrast, we show that if the number of vertices in the middle layer is decreased to 2, then a linear upper bound is possible. We extend our exponential lower bound to the approximate version of the problem where only a single $\alpha$-approximate shortest path in the original graph must be preserved as an exact shortest path in the reweighted graph. Our exponential lower bound holds even for any finite approximation ratio $\alpha>1$.

Power profiles are widely used to describe power demand and production in energy systems. Yet, real-world usage often involves uncertainty, making it challenging to determine, e.g., whether a battery can reliably meet a given profile. Formal modeling enables the computation of probabilities that a battery will satisfy such demands. Given the combination of discrete and continuous dynamics, along with uncertain usage patterns, stochastic hybrid automata (SHA) offer a suitable framework for such modeling and analysis. In this paper, we formalize two orthogonal approaches to specify the (uncertain) power profiles that a specific battery can serve as well as a storage model. For both types of power profiles, we provide formal construction rules for SHA reflecting the behavior of the storage model given a specific power profile. We analyze how design choices, such as the power profile, storage model, and representation of uncertainty, affect the complexity of the resulting SHA. Finally, we demonstrate how these models quantify feasibility using the tools Modest and realyst, and assess how the analysis scales with profile size and the number of stochastic components.

Extreme compression techniques, including vector quantization (VQ) and input-dependent sparsity, can significantly reduce the memory footprint of large language models (LLMs). However, a key challenge remains in translating such compression into practical efficiency. On conventional systolic-array-based accelerators, VQ incurs high dequantization overhead, while the irregular patterns of input-dependent sparsity are difficult to exploit. In this study, we address these challenges with Vortex, an architecture compatible with systolic-array-based accelerators with minimal hardware overhead, bridging the gap between extreme compression and efficient inference. Vortex adopts a bi-flow execution strategy that efficiently supports vector-quantized models across both prefill and decoding workloads, and we further optimize it through systematic design space exploration. On the algorithm side, we propose codebook-wise contextual sparsity to align with VQ execution. Across end-to-end workloads, Vortex achieves $8.03\times$–$23.7\times$ speedup and $5.68\times$–$12.5\times$ energy reduction over state-of-the-art accelerators.

Bioprinting is emerging as a tissue engineering technique to replace common treatment methods for large scale injuries. While thickness of the BioPrinted Constructs (BPCs) have shown to be of importance in the cell maturation and integration, the literature lacks a robust, automated, and quantitative method for measuring these metrics. In this paper, we propose a fully automated vision-based method for measuring the thickness of the BPCs with complex geometries. Leveraging the point cloud and RGB images of a structured light 3D camera, our proposed method performs an image-based segmentation for delineating the BPCs from the RGB images, accompanied by novel geometry-based thickness measurement algorithms performed on the point cloud scans. These algorithms combine the segmentation mask with the robot's forward kinematics data and a 3D point cloud scan to precisely measure the aforementioned metrics for complex-shaped BPCs. The proposed method was evaluated in simulation and experimental studies. In simulation studies, the algorithms were used to measure the thickness of some virtually created BPCs with known thickness. The comparison between the measured and true thicknesses demonstrates the high accuracy of the proposed method, achieving mean absolute errors between 0.025 mm and 0.057 mm in simulation at a spatial resolution of 0.1 mm x 0.1 mm per pixel. Furthermore, we successfully deployed the algorithms on our robotic bioprinting setup utilizing a structure light 3D camera, where complex patterns were printed and the developed methods utilized to accurately measure the thickness of printed BPCs.

When a coding agent finishes a task, the developer reviews a summary the agent wrote about itself, not a display someone designed. We ask how much of the agent's work that summary carries, and whether it drifts toward the plan the agent stated when execution departed from it. Across 5,851 real developer sessions and 355,942 tool calls, a self-report referred to about one action in eleven, and a reader working from the report alone recovered roughly a fifth of the action log. Neither figure depended on whether the session later needed human correction. Reports did not generally resemble the stated plan more than the executed one, but they did so increasingly as execution diverged from the plan. We hand-validate both measurement steps that use a language model, report the one that failed alongside the one that passed, and draw conclusions only from measures that survived.