Papers

Humanoid robots must traverse cluttered obstacle fields using onboard proprioceptive and visual observations, yet existing methods usually process multimodal observations without explicitly considering their different characteristics: proprioceptive observations are low-dimensional but governed by highly nonlinear robot dynamics, while egocentric visual observations are high-dimensional, noisy, and redundant. We propose DWMP (Dual World Model Policy), a framework that provides the actor with separate but complementary world-model representations for humanoid obstacle traversal. A Koopman-based dynamics world model lifts proprioceptive observations into a latent space where their temporal evolution is approximately linear, making the dynamics features easier for the actor to learn from. An RSSM-based visual world model compresses egocentric depth observations into compact stochastic states while preserving obstacle-related geometry. The student policy receives the fused latent representation for action generation, combining linearized proprioceptive dynamics with compressed visual perception. Experiments in simulation and on a Unitree G1 humanoid robot show that DWMP improves obstacle traversal performance over baselines and supports real-world deployment under randomized obstacle layouts.

To prove the quantum soundness of the classical low-individual-degree test, the authors of \cite{JNVWY20LID} defined three subtests, namely the axis-parallel lines test, the self-consistency test, and the diagonal-lines test. An interesting question is whether the diagonal-lines test can be removed. In this paper, we show that the diagonal-lines test cannot simply be removed without another compatibility mechanism. Consequently, replacing the "conditional linear functions" by "coordinate deletion functions" in the proof of MIP*=RE, as mentioned in \cite{JNVWY20LID}, does not by itself preserve the required soundness. The authors of \cite{JNVWY20LID} found an example that requires the diagonal-lines test when \((m, d, q) = (2, 2, 4)\); we give an example when \((m, d) = (2, 2)\) and \(q\) is any odd prime.

Existing agent benchmarks mainly evaluate final task success or tool-call correctness, providing limited insight into whether agents can reliably diagnose and recover from intermediate execution failures. This limitation becomes particularly critical in multi-turn parallel tool-use scenarios, where errors may propagate across dependent branches and trigger cascading failures. We introduce ParaRecover, a process-level benchmark for evaluating error localization and recovery in multi-turn parallel tool-use agents. Built upon a fine-grained taxonomy of 14 error types covering planning dependencies, tool selection, and argument matching, the benchmark comprises 10,626 instances spanning two difficulty levels. To enable finegrained, process-oriented evaluation, we further propose the SDE rubric, which measures structural integrity, diagnostic reasoning, and evolutionary strategy during agent execution.Experiments across more than ten mainstream LLMs reveal that even state-of-the-art models still struggle with multi-turn error propagation,implicit tool-use failures, and precise replanning. Moreover, we demonstrate that the SDE rubric provides effective supervision signals for improving agents' reflective recovery capabilities. Our data and code are available at https://github.com/gbw206/ParaRecover.

Feed-forward Gaussian splatting models have demonstrated remarkable effectiveness in reconstructing three-dimensional (3D) objects from a few two-dimensional (2D) images, even if they are unseen. As existing methods typically predict Gaussian primitives uniformly across the 3D space, most primitives are placed in non-object regions. This may hinder the representation of fine object details. This paper proposes a Voxel-Selective Gaussian Splatting model (VS-Splat), a new end-to-endfeed-forward Gaussian splatting framework that predicts many primitives only within selected voxels that are likely to belong to an object, without 3D structural supervision. To achieve this, we propose a new learnable voxel selection approach that identifies object-centric voxels only with 2D rendering supervision. Our sparse-view rendering experiments with three benchmark datasets show that proposed VS-Splat outperforms several state-of-the-art methods. We further demonstrate its effectiveness as a backbone for an existing densification method and show that anoptional extension improves its robustness to inaccurate camera pose estimates.

The conditional generation of 3D motion has emerged as a key research topic due to its wide applicability across robotics, AR/VR, gaming, and content creation. However, extending recent advances in text-driven human motion generation to the animal domain remains challenging due to two core limitations. First, animals exhibit highly diverse skeletal topologies, unlike the standard human structure, making unified modeling across species difficult and leading to inefficient per-species models. Second, existing animal motion datasets suffer from limited scale and annotation quality, constraining model performance. To address these challenges, we propose UniMo, a unified point cloud-based motion generation framework that bypasses topological discrepancies by converting parametric skeletons into unparametric representations, further enhanced by dynamic sampling that allocates more points to active joints. Additionally, we present UniML3D, a large-scale motion-language dataset spanning both human and animal categories, containing 145,907 motion sequences and 433,388 captions-over 102x larger than existing animal datasets. Our method achieves state-of-the-art results on UniML3D and three public benchmarks including HumanML3D, KIT-ML, and AnimalML3D, demonstrating the feasibility and effectiveness of unified human-animal motion generation. Website: https://steve-zeyu-zhang.github.io/UniMo.

Authorship attribution models can re-identify users from seemingly anonymized text by exploiting stable stylistic fingerprints, even after explicit identifiers are removed, posing a growing privacy risk for text publishing and analytics. This risk extends to speech-derived text such as ASR transcripts of meetings and call-center conversations, where stylometric leakage can persist even after acoustic anonymization. Differential privacy-based anonymization often severely degrades text quality and utility. We propose a style-aware, prompt-driven anonymization approach that uses pretrained large language models to construct compact stylistic profiles from minimal samples and rewrite text to suppress identifiable style markers while preserving meaning. Across blog and review datasets, our approach reduces authorship attribution F1 by 60-70% while maintaining content quality and readability, substantially outperforming DP-based and non-DP baselines.

We study compute reduction in neural networks through a unified partial versus full computation view, captured by one-shot magnitude pruning in the static regime and early exit in the adaptive regime. In an asymptotic single-neuron model, we prove a concentration theorem for one-shot magnitude pruning with explicit rates. We also introduce the conditional perceptron for early exit and show that its excess generalization error decays as a power of the compute gap, with an exponent that grows to infinity as the alignment between partial and full computations tends to one. We then extend the analysis to deep networks, characterizing how pruning-induced distortions accumulate with depth and deriving a corresponding compute-accuracy tradeoff for frozen-backbone early exit under a neural network Gaussian process model. Numerical simulations corroborate the predicted scaling laws.

In large-scale networked dynamical systems, local faults or disturbances may propagate through the interconnections and compromise the stability of the entire network. Partitioning the network into disjoint subsystems, or islands, limits this propagation by isolating unstable portions of the network from those that remain stable. This paper studies a two-stage controlled islanding and reconnection problem. In the first stage, the network is partitioned into stable and unstable islands. In the second stage, selected stable islands are reconnected to recover connectivity lost during islanding while satisfying stability requirements. We derive Lyapunov-based sufficient conditions for both stages. To address the coupling between the islanding and reconnection decisions, we construct an augmented graph on which the bases of a graphic matroid induce exactly the admissible islanding and reconnection pairs. We further show that the resulting optimization problem admits an equivalent nonincreasing supermodular formulation. Based on this structure, we develop a local-search algorithm with counterexample refinement and establish a performance guarantee for its inner loop with fixed sample sets. Numerical studies on linear networked systems illustrate the proposed procedure, examine its sensitivity to fault locations, and compare the proposed method with a mixed-integer linear programming benchmark in terms of solution quality and computational performance.

Simulated students generated by computational models provide a practical way to evaluate tutoring strategies and pedagogical approaches used by human and AI tutors. However, such simulations should account for disengaged behaviors, including gaming the system, wheel-spinning, and off-task behavior, because tutors may need different responses for different learner states. We present Disengagement-Aware Student Simulators (DAS2), a reproducible pre-deployment protocol that models five learner-engagement states: engaged, gaming, wheel-spinning, off-task, and mixed, and evaluates AI tutor performance across these states. Using ASSISTments09, two coders independently labeled 100 sampled tutoring sessions based on anonymized interaction-log summaries. They achieved 84% agreement (Cohen's kappa = 0.78), and among agreed cases, human consensus labels matched DAS2 rule-based labels in 81% of cases (kappa = 0.75). Conditioning simulations on intended learner states reduced the correctness-rate gap between simulated and authentic sessions from 0.54 to 0.20 for gaming and from 0.51 to 0.18 for wheel-spinning. Fine-tuned Qwen2.5-7B better matched authentic response-time distributions, while prompt-only GPT-4o generated more distinguishable learner states. Evaluation of five AI tutors from the Claude, Llama, Gemini, Qwen, and GPT families showed that relative rankings remained stable across learner states and interaction lengths, while absolute performance varied, revealing state-specific differences in tutor support. Human validation further showed that automated tutor evaluation does not fully align with human judgment. DAS2 provides a pre-deployment framework for evaluating how AI tutors respond to diverse learner-engagement states before deployment.

Efficient GPU implementations of tensor programs often require joint optimization of high-level algebraic formulations and low-level execution strategies. However, the resulting search space grows rapidly as transformations combine across operators, making joint optimization difficult to scale. We present EqiForge, a tensor program superoptimizer based on equality saturation. Its unified IR represents high-level tensor expressions and tiled computations in a single expression language. By composing equality rules, EqiForge derives fused implementations such as FlashAttention-style kernels directly from tensor expressions. Early compaction prunes redundant partial programs before completion, while subgraph composition extends the search to larger graphs. Across tensor-program benchmarks, EqiForge achieves a geometric mean speedup of 1.32x and a maximum of 2.74x over the fastest available baseline per configuration. Its attention kernels outperform FlashAttention by up to 1.87x in decode and approach its performance in prefill. EqiForge also discovers new implementations that outperform torch.compile on various Transformer layers, including QK-normalized MLA (3.16x) and mHC (5.84x).

This paper presents the iterative equivariant filter (IterEqF). The iterative extended Kalman filter (IterEKF) replaces the standard EKF correction step with an iterative correction step that is the Gauss-Newton solution to a nonlinear weighted least squares problem. The standard equivariant filter (EqF) exploits and respects the underlying symmetry of state estimation problems posed on homogeneous spaces and Lie groups. The motivation behind the IterEqF is to combine the features of both the IterEKF and the EqF, thus leading to a high-performance state estimation solution that is well suited to navigation problems. This paper derives the iteration procedure for the IterEqF update step and shows how the intrinsic nonlinearity of the approach naturally results in a `reset' of the filter's covariance into new coordinates. Monte-Carlo simulations of range-based localisation for a mobile robot demonstrate the improvement in performance relative to a standard EqF, especially during the transient convergence.

Reservoir computing (RC) trains only a linear readout over a fixed recurrent layer, making it fast and data-efficient for online prediction. However, a static reservoir degrades under system drift, readout-only adaptation is then insufficient, and unconstrained reservoir adaptation can destroy the echo-state and incremental stability properties that make RC reliable. This paper proposes LoRA-RC, which adapts the recurrent matrix through a low-rank correction driven by streaming prediction errors. The base reservoir and adaptation bases are fixed offline; a small core matrix is adapted online, projected onto a spectral-norm ball, and low-pass filtered at each step. The projection guarantees that every applied recurrent matrix remains within a certified contraction set, and an incremental input-to-state stability bound is established for the reservoir along each online adaptation path, with path-independent rate and gain. On a Lorenz system with an abrupt parameter drift, LoRA-RC cuts post-drift prediction error by 56% versus a fixed RC and 51% versus readout-only adaptation; ablations over 20 seeds show that removing the projection inflates this error by more than a factor of 40.

Given integers $c\geq 2$ and $s\geq 0$, let $\mathsf{M}_3(c,s)$ denote the least integer such that every set of at least $\mathsf{M}_3(c,s)$ points in the plane, no three on a line, colored with $c$ colors, contains a monochromatic triangle with at most $s$ interior points. Further, let $\lambda_3(c)$ be the least integer such that $\mathsf{M}_3(c,\lambda_3(c))<\infty$. \citet{colorempty} proved that, for every $c\geq 2$, $$\left\lfloor\frac{c-1}{2}\right\rfloor \leq \lambda_3(c)\leq c-2.$$ Later, \citet{cravioto2019almost} improved the upper bound to $c-3$, for $c\geq 4$. In this paper, we refine their argument to obtain the following asymptotic improvement: $$\lambda_3(c) \leq c-\sqrt{c\log c}+o (\sqrt{c\log c} ),$$ for all sufficiently large $c$. We also show that every $c$-coloring of a sufficiently large Horton set contains a monochromatic triangle with at most $\lfloor \frac{c-1}{2} \rfloor$ interior points. This shows that the aforementioned lower bound on $\lambda_3(c)$ is sharp within the class of Horton sets. We conclude with a conjecture on the large-color asymptotics of $\lambda_3(c)$.

Affective computing has advanced wearable state inference, but on-device reasoning about whether, when, and how to intervene remains challenging. We present Affective Agent, a three-layer reference architecture for personalized intervention reasoning under uncertainty on wearable-class hardware. It combines a compact sub-billion-parameter language model with physiological evidence, context, and user history to decide whether, when, and how to intervene, without cloud dependency or per-user retraining. The architecture is organized into three interacting layers (perception, personalization, and reasoning), adapting to individual users through host-managed structured memory evolution rather than per-user weight updates. We instantiate Affective Agent in indoor environmental quality control and evaluate it on held-out, simulator-generated longitudinal scenarios spanning physiological variation, context, signal quality, and intervention history. Results show that memory-driven personalization and two-pass structured reasoning improve intervention decisions within this synthetic evaluation. By moving the decision layer on-device, this work demonstrates a path from wearable state inference toward closed-loop, personalized intervention on wearable-class hardware.

Traditional large language models (LLMs) are scoped to individual user sessions, limiting their knowledge to a single conversation and preventing them from learning user preferences that evolve over time. Existing agentic memory systems address this limitation but generally operate at the individual-user level, restricting the public knowledge that could be shared across users to improve downstream responses. We introduce AIM (Agentic Interoperable Memory), a unified, privacy-aware memory framework that enables multi-agent, multi-user LLM systems to persistently manage private and shared memory. AIM dynamically classifies information as private, scoped to one user and inaccessible to others, or public, accessible to all users. It enforces index-level access controls so that private memories are retrievable only by their owner, protecting sensitive data while allowing beneficial shared knowledge to improve coordination and consistency. We also introduce MUMBench (Multi-User Memory Benchmark), a dataset of multi-user interactions containing private and shareable information across four domains. To our knowledge, MUMBench is the first public dataset designed to evaluate multiple memory operations, including retrieval, creation, update, and deletion, in a multi-user environment. Across three independent runs on MUMBench, AIM achieves 96.0% visibility classification accuracy, 58.8% strict operation accuracy, and 70.5% state-aware operation accuracy.

A central question in LLM reasoning is whether reinforcement learning (RL) instills genuinely new capabilities or merely reshapes how existing knowledge is expressed during inference. Building on the distribution-sharpening hypothesis, which holds that RL reallocates probability mass toward high-reward trajectories already latent in base models, we ask: can we unlock those latent paths without costly RL fine-tuning? We present Decision-Flow Sampling (DF-Sample), a training-free, data-free inference-time framework that constructs a hierarchical reasoning tree, scores terminal nodes for quality, and back-propagates utilities to inform each intermediate branching decision. Unlike conventional sampling strategies that make purely local step-wise choices, DF-Sample performs explicit global trajectory evaluation before committing to a path, recovering high-quality but low-probability reasoning chains that standard decoding overlooks. On GPQA, DF-Sample achieves 45.6% accuracy, surpassing power sampling (38.9%) and GRPO (39.9%), showing that a training-free method can outperform a trained one. Across three models and four benchmarks, DF-Sample consistently outperforms baselines, indicating substantial latent reasoning potential in pretrained base models.

Collecting high-quality robot data remains a fundamental challenge for training robot foundation models. Task and motion planning (TAMP) offers a scalable way to generate demonstrations, but our experiments show that raw TAMP trajectories provide surprisingly little benefit when used to fine-tune pretrained vision-language-action (VLA) models, despite successfully solving the target tasks. We hypothesize that this failure arises from a behavioral distribution mismatch between planner-generated trajectories and the data used to pretrain the VLA. To address this mismatch, we introduce DATAFARM: Distribution-Aligned Task And motion planning for Fine-tuning A Robot foundation Model, an approach that incorporates the pretraining distribution directly into TAMP trajectory generation. DATAFARM aligns generated trajectories with the pretraining data in robot joint configurations, motion style, and temporal execution profiles. We evaluate DATAFARM on three tabletop manipulation tasks that TAMP can perform and a cloth-folding task beyond the capability of TAMP. DATAFARM achieves an average success rate of 56.7%, substantially outperforming raw TAMP (8.3%) while approaching human teleoperation (61.7%). On Deformable Object Manipulation, which is outside the fine-tuning distribution, the fine-tuned model retains 85% success, compared with 90% for the pretrained model. These results show that aligning planner-generated demonstrations with the pretraining distribution can make TAMP an effective source of data for VLA fine-tuning. Website and code: https://prpl-group.com/datafarm/

Blockchain application attacks, targeting business logic bugs in decentralized applications (dApps), have been an increasing concern to their developers and users, causing significant financial loss. Existing attack detectors either rely on handcrafted rules for detection, or need difficult-to-obtain smart contract source code to analyze attack transactions. This makes them brittle and inapplicable in practice. In this paper, we argue that function name sequences suffice to capture the high-level semantics of a transaction, and hence can be used to detect blockchain application attacks. Our empirical study on transactions from 424 real-world attack incidents shows that 98.46% of call traces can be resolved to function names, whereas only 74.78% invoke contracts with available source code. Based on this observation, we propose TxLucent (pronounced "translucent"), an automated framework to detect blockchain application attacks by extracting application semantics from transaction call traces. TxLucent maps call traces to function name sequences and uses a transformer to learn semantics from such sequences. Consequently, TxLucent can detect attacks without relying on hand-coded patterns or source code. Our results show that TxLucent achieves a 1.56% false negative rate on 424 known incidents with 14,611 attack transactions, and an estimated 0.0017% false positive rate for benign transactions from over 500 million transactions on the Ethereum blockchain. Finally, TxLucent takes an average of 24.90 milliseconds to analyze a transaction, thus supporting real-time attack detection on popular blockchains.

People increasingly use general-purpose chatbots such as ChatGPT, Claude, and Gemini for mental health and emotional support. We report a multi-stage longitudinal qualitative study of 18 U.S. adults, conducted from April to December 2025, combining initial interviews, a four-week diary study, focus groups, and exit interviews. We find that socioemotional use often emerged gradually out of practical use and when other forms of support were unavailable. Participants developed routines and boundaries around chatbot use, which were disrupted by model updates, evolving public discourse about AI harms, and changes in personal circumstances. We demonstrate how longitudinal study captures factors beyond the human-AI dyad, and argue that HCI researchers and designers should account for users' histories with their chatbots and broader care ecologies when evaluating AI systems over time and introducing updates that may disrupt established sources of support.

We evaluate Deep Perturbation Learning (DPL), which perturbs training images and labels along influence-derived directions, in three roles in which prior work has positioned it for machine unlearning: a direct deletion signal (the strongest claim), a utility-preserving regularizer, and a warm start for adversarial unlearning. Evidence for the weaker roles has been used to support the stronger one, so we test each role separately under a matched protocol with exact-seed retraining baselines. An audit of the public implementation identifies two correctness issues: image directions are computed on augmented, normalized tensors but applied to raw images, and the label perturbation falls below float32 resolution, leaving labels unchanged. After correcting the image-perturbation pipeline, DPL fails the direct-deletion criterion on CIFAR-10/ResNet-18 in all three paired seeds. Its utility effects are inconsistent in sign across seeds, and once direction-computation time is counted it underperforms simple warm-start baselines. A one-seed Tiny ImageNet check likewise does not favor DPL as a regularizer or warm start; preprocessing inconsistencies in the released code make the direct comparison there inconclusive. These results cover random instance deletion only and do not rule out influence-based methods in other deletion regimes. We release a role-matched evaluation protocol and an audit checklist for perturbation-based deletion claims.

We describe six submissions under the team name ESTS to the unconstrained WMT26 Model Compression Shared Task for English–Simplified Chinese and English–Egyptian Arabic. We submit three compression operating points per translation direction, all derived from GPT-OSS-20B. We use task-specific routing mass to rank experts and cross-lingual routing divergence to allocate retained capacity across layers, then physically remove low-importance experts. The resulting specialists are recovery-tuned on GPT-5.1-generated synthetic translation data and further compressed by applying MXFP4 quantization to the retained expert projection weights. We additionally implement a robust inference system for the instruction-conditioned WMT26 setting, including category inference, output validation, retries, segmented fallback, and source-owned JSON reconstruction. Across our six submissions, parameter counts range from 4.186B to 7.770B and packed artifact sizes from 4.55 to 6.33~GiB. Internal xCOMET-XL evaluation using GPT-5.1 pseudo-references provides an internal comparison across the submitted compression operating points.

PQLS (Parallel Quantum Liouvillian Solver) is a high-performance Python library for computing steady-state solutions of the Lindblad master equation. It provides a layered user-facing API with three levels of abstraction. The high-level API accepts physical descriptions of atomic ladder systems and automatically determines the required model parameters; the mid- level API accepts quantities such as Rabi frequencies, detunings, decay rates, and network topology; finally the low-level API allows users to directly specify the Hamiltonian and collapse operators. This layered design enables users to choose between physical convenience and direct numerical control depending on the application. PQLS is built on JAX and XLA to enable vectorized and hardware-accelerated computation of large parameter sweeps. Rather than solving the steady-state problem sequentially for each parameter configuration, PQLS represents multiple Hamiltonians as batched tensors and processes them through a JAX-compiled solver, reducing Python-level overhead and improving hardware utilization. This is particularly useful for applications requiring large or multidimensional parameter sweeps, such as computing frequency spectra, evaluating field-dependent responses, and performing Doppler averaging over atomic velocity distributions. PQLS has been benchmarked against QuTiP, QuTiP-JAX, and RydIQule on CPU and GPU platforms, demonstrating substantial computational speedups across the tested configurations.

Motivated by accelerating machine learning (ML), many computer vendors and chip manufacturers are building accelerators for matrix multiplication, which save time and energy by operating in the lower precisions needed for ML. This has in turn motivated many efforts to use these accelerators to provide faster matrix multiplication implementations with the higher precision required by many other linear algebra applications. Motivated by the large design space of algorithms for approximating higher precision, with significant performance/accuracy tradeoffs, we provide a benchmark to "grade the accuracy" of a matrix multiplication implementation (or the BLAS more generally), ranging from an "A" for attaining the classic floating point error bound, to a "C" for attaining a weaker but still useful bound, that is satisfied by Strassen-like algorithms. We also propose "ungameable" tests that vendors or users can run to verify their promised accuracy, and describe how these different grades impact the accuracy of applications like LU, QR, and Cholesky decomposition. Our test code is publicly available at github.com/Reference-LAPACK/grading-the-BLAS for developers and users, and we also plan to publicly release all our test results.

Many scientific applications require modeling how diffusive systems evolve over time, not merely their eventual steady states. While conventional steady-state analysis of partial differential equations (PDEs) on complex geometries is already hindered by costly volumetric meshing, transient analysis further requires sequential time stepping and careful step size selection. Grid-free Monte Carlo solvers such as walk on spheres (WoS) and walk on stars (WoSt) avoid this meshing bottleneck but remain largely limited to steady-state problems. We generalize WoS, for pure Dirichlet problems, and WoSt, for mixed Dirichlet–Neumann problems, to heat equations with initial conditions and time-dependent source and boundary data. We equip each random walk with a finite time budget and sample an exit time at every spatial step. If the exit time exceeds the remaining budget, the walk samples an interior point and evaluates the initial condition; otherwise, it continues with a reduced budget, accumulating source and boundary contributions. Our main technical contribution is a suite of kernel sampling and variance reduction techniques, including a low-bias, tabulation-free exit time sampler and efficient rejection samplers. Unlike grid-based transient solvers, our method directly estimates the solution at any requested time without volumetric meshing or sequential time marching. It also retains the parallel, progressive, and output-sensitive evaluation of WoS and WoSt while eliminating time step selection and temporal discretization bias entirely. Finally, we show how sharing walks enables efficient estimates at multiple target times.

The rapid growth of Distributed Energy Resources (DERs) has significantly expanded the cyber attack surface of modern power grids. Furthermore, increasing sophistication in attack techniques demands anomaly detection systems (ADS) that are accurate, interpretable, and reliable to support DER cybersecurity. While ML-based ADS provide strong detection capabilities, their black-box nature reduces operator trust and limits Security Operation Center's (SOC) ability to effectively interpret alerts and respond, highlighting the need for explainable Artificial Intelligence (XAI) to ensure transparency and operational confidence. This paper presents an XAI-based anomaly detection framework tailored for DER networks (ExCYDER). The proposed framework uses a self-verifying mechanism that validates ADS alerts to ensure trustworthy decision-making. ExCYDER combines LightGBM with SHAP to check whether each model decision aligns with its feature-attribution evidence, allowing the system to confirm that its internal reasoning is consistent and reliable. Experiments on a realistic DNP3 dataset achieved over 98% detection accuracy, an average rule–SHAP consistency of 44.6%, a SHAP latency of 14.5 ms per alert, and a confidence deviation within 5%, demonstrating stable verification behavior with minimal computational overhead. The framework distinguished between coherent and inconsistent alerts without compromising detection accuracy, demonstrating that integrated verification within XAI-based ADS enhances interpretability, auditability, and operational robustness for DER-focused SOCs.

Wrist-worn IMU has been widely used for daily-life health monitoring. Yet, it does not fully represent whole-body dynamics, for which the body center of mass (COM) is considered the physiological reference standard. Therefore, this work proposes a simplified kinematic model (KM), which is designed to map the wrist IMU to the COM acceleration. It is built upon several reductive assumptions that enable the solvability of the dynamic equations based on wrist IMU measurements alone. This work further proposes three types of hybrid AI modeling methods, namely human kinematic model-based neural network (HKM-NN) models, to leverage the power of both grey-box and black-box modeling. The HKM-NN methods include serial learning (ser-) and two approaches of simultaneous learning (sim1- and sim2-). The proposed models are trained and tested using our dataset, which includes wrist IMU measurements and ground-truth COM measurements from 10 healthy volunteers during six gait activities and sit-to-stand (SS) transitional movement. The results demonstrate the feasibility of estimating COM acceleration from wrist IMU measurements. Our KM model yields satisfactory results, with an error ranging from 6.7% to 12.5% for gait activities and 5.6% for the SS. In comparison with the KM model, our HKM-NN models significantly enhance the performance, achieving 5.3% to 9.3% errors for gait activities, and the best error of 3.9% for the SS. In addition, the HKM-NN models demonstrate distinct robustness characteristics under noisy test conditions, with sim1-/sim2- generally maintaining greater robustness under Gaussian perturbations, while the KM model exhibits comparatively strong robustness under salt-and-pepper noise. These findings highlight the importance of combining biomechanical structure with data-driven learning for wearable sensing applications operating under imperfect and noisy measurement conditions.

Small models are made more capable through distillation from a larger one that shares their tokenization scheme. However, do distilled byte and token models behave similarly in terms of scaling trends as compute and data increases? To enable this comparison, we introduce two variants to efficiently convert token logits to Byte Logits: 1) approximate: Marginalize-It, and 2) exact: End-Of-Token. We then present the first large scale study of overtraining decoder-only dense transformer models varying two dimensions simultaneously: the tokenization scheme (Tokens, Bytes, Bytes w/ eot) and the training objective (Distillation vs. Cross-Entropy), sweeping layer-parameter-matched models with roughly 1 billion parameters up to 1 trillion bytes of data. Across eight benchmarks spanning three categories: Multiple Choice QA, Language Generation, and Machine Translation, we find that Token-1B models outperform byte models (End-Of-Token-1B and Bytes-1B) in the low-FLOP regime but eventually plateau; byte models start worse yet surpass Token-1B models with more compute, reaching a higher downstream task performance ceiling. Extrapolating the average top-1 error vs. validation BPB scaling laws predicts that, asymptotically, distilled End-Of-Token-1B outperforms distilled Token-1B by up to 4%. They are also far more data efficient, matching the performance of distilled Token-1B using only one-sixth of the training data. Moreover, by operating over a small vocabulary of 256 bytes instead of on the order of 100K tokens, they circumvent the need for top-k truncation during logit dumping, while also reducing logit storage costs to roughly one-fifth. Finally, our downstream performance scaling laws predict that our distilled End-Of-Token-1B models asymptotically surpass the Llama 3.2-1B, Gemma-3-1B-pt, and Gemma 2B models on averaged downstream tasks by up to 6.5%, 8.1%, and 2.1%, respectively.

GPU developers and automated optimizers need performance evidence for semantic code regions–such as neural-network operator implementations and pipeline stages–but this evidence is fragmented across profiling tools. Answering a region-level question can require manually constructing probes and program variants, isolating interfering measurements, and mapping evidence to regions and execution contexts. We present Argus, a region-centric measurement planner and runtime that automates this workflow. Clients identify regions with boundary markers and select signals and execution scopes. Argus preserves region identity across compilation, execution, and measurement variants, constructs interference-aware multi-run plans, and orchestrates transformations and profiling across backends. It joins compiler-, hardware-, and system-level evidence using region identity and dynamic execution context, producing reports that record measurement origins and attribution ambiguity. We evaluate Argus across agentic kernel optimization, persistent megakernel optimization, and cross-level PGO. Across 44 persistent-GEMM and attention configurations, Argus improves 39/44 cases and raises AlphaEvolve's geometric-mean speedup from 5.4% to 8.9%. On a persistent TinyLlama-1.1B decode megakernel, an optimization agent reaches 1.65 ms/token with Argus versus 4.92 ms/token without it, producing a kernel $2.1\times$ faster than PyTorch with CUDA Graphs. Finally, Argus-guided cross-level PGO improves compute–communication overlap, increasing throughput by 7% on average across five multi-GPU settings.

Finger-level motor decoding is important for naturalistic brain-computer interface (BCI) control, yet individual-finger decoding from scalp electroencephalography (EEG) remains challenging because finger representations are spatially close in the sensorimotor cortex and blurred by volume conduction. Leveraging the high spatial resolution of functional MRI (fMRI), we introduce fMRI Representation-Informed Shared-Space Training (FRIST), a two-stage EEG decoding framework that first learns fMRI-informed spectral projections from simultaneous EEG-fMRI recordings and then uses fMRI-derived class geometry to guide residual refinement of EEG predictions. FRIST transfers information across recordings through shared finger labels without requiring paired trials and uses only EEG at inference. We evaluated 12 able-bodied participants during movement execution (ME) and motor imagery (MI) under two-class and three-class chronological session-held-out decoding simulating the online scenario. Using EEGNet as the EEG feature extractor, FRIST increased group average accuracy from 66.93% to 74.53% for two-class ME, from 44.83% to 56.58% for three-class ME, from 80.78% to 85.63% for two-class MI, and from 60.93% to 69.90% for three-class MI compared with the EEG-only EEGNet baseline. FRIST is also shown to improve EEG-only decoding when the target participant's own fMRI data were unavailable. FRIST also generalized across multiple EEG decoding backbones, reaching 87.40% in two-class MI and 72.54% in three-class MI with EEG Conformer as the EEG feature extractor. These findings indicate that fMRI provide useful spatial constraints for EEG representation learning. FRIST improves noninvasive EEG-based finger-level BCI decoding, offering a multimodal strategy for integrating the spatial specificity of fMRI with real-time applicability of EEG.

We introduce structure-aware optimal transport diagnostics for assessing whether empirical time-series dynamics are compatible with a prescribed predictable-drift class. Our approach translates a pathwise property of stochastic processes into a finite-dimensional projection problem over empirical transition laws, encoding admissibility as row-wise moment constraints on local couplings and quantifying deviations via a Kullback–Leibler projection gap $G_{\lambda,k}$. This yields both a principled diagnostic and a scalable Bregman–Dykstra algorithm that retains the efficiency of Sinkhorn-type methods while incorporating structural constraints. Calibrated against a Brownian reference null, $G_{\lambda,k}$ separates process classes that are indistinguishable by second-order statistics alone—including fractional Brownian motion and BSS processes sharing identical Hurst indices—without asymptotic resampling or continuous-time recovery. This positions the method as a general tool for structure-aware model validation of sequential data.