Papers

Large language models (LLMs) are increasingly used by people whose first language is not English, yet these users have been shown to receive systematically lower-quality responses than fluent speakers. Which specific features of non-native English drive this gap remains unclear, because fluency is itself a composite of mechanical accuracy, vocabulary use, organization, and discourse coherence. Here, we introduce FABLE, a controlled dataset of 190,911 English prompt variants derived from 174K real user prompts for writing-related tasks. Evaluating responses from 34 open-weight LLMs, we find a clear asymmetry; while models do not propagate surface errors such as misspellings into their outputs, models do mirror higher-level rhetorical and lexical qualities present in the user's prompt. Further, the overall quality of responses differs substantially between the least- and most-fluent prompts. These results highlight a key LLM performance disparity for non-native English LLM users, resulting in both lower-quality and less-fluent answers.

Inverse optimal control provides optimality and robustness guarantees without solving the Hamilton–Jacobi–Bellman (HJB) equation, but its application to 3D nonholonomic vehicles has been precluded by the absence of strict control Lyapunov functions (CLFs). Recently, such strict CLFs were constructed for the 3D nonholonomic vehicle in spherical coordinates, which circumvent Brockett's obstruction, on the largest possible domain. Building on this construction, this paper develops a general inverse optimal stabilizing controller for the 3D nonholonomic vehicle actuated by surge velocity, pitch rate, and yaw rate. The design is a damping $L_gV$ feedback that minimizes a meaningful cost and inherits stability margins. Its flexibility is demonstrated through two choices of penalty function: a quadratic running cost on the state, recovering a near-classical optimal control formulation, and stabilization under user-defined input constraints. Numerical simulations illustrate stabilization performance, control-effort tradeoffs, and the effect of input constraints.

Generative denoising models, such as diffusion and flow-matching, learn to sample from complex distributions by training a deep neural network denoiser to recover clean data from noise-corrupted samples. While such models are typically compared on the quality of their synthesized samples, these metrics provide limited insight into how the underlying denoiser, which drives generation, differs. In this work, we propose to analyze the spectrum of the denoiser Jacobian as a tool to characterize these differences. Across pre-trained denoising models, we observe that better generative performance is associated with larger Jacobian eigenvalues. Motivated by this, we introduce a regularization scheme that controls the Jacobian spectrum by training the denoiser on perturbed inputs, with perturbations suppressing or amplifying Jacobian responses. On ImageNet, we test whether directly modifying the Jacobian spectral properties leads to improved generations. Our findings suggest that denoisers benefit from both strengthening responses along data-relevant principal eigen-directions and suppressing the noisy, data-irrelevant ones. This establishes the denoiser Jacobian as a useful tool for identifying differences between generative denoising models.

Large language models (LLMs) are increasingly used as knowledge bases (KBs) due to the vast amount of knowledge they acquire during pre-training. While many works focus on extracting single relational triples, most real-world relations are multi-valued and require generating sets of entities. In this paper, we investigate how LLMs represent and generate multi-valued relations. We identify the canonical order problem: The probabilistic distributions inside LLMs organize many multi-valued relations according to a canonical ordering (e.g., alphabetical or chronological). Through mechanistic analysis, we show that set generation in LLMs can be thought of in terms of three phases: (1) retrieval of candidate entities, (2) internal sorting, and (3) selection of the next element. As a result, prompts aiming to construct KBs that deviate from this internal canonical ordering lead to a markedly reduced reliability of LLMs when aiming to generate complete sets for multi-valued relations.

Input encodings can restrict which measured contrasts a predictor can jointly reproduce, even when no single contrast is forced to vanish. We compute the attainable contrast space from an encoder's equivalence classes and a fixed contrast design, without labels, loss, or a fitted model; projecting the recorded contrasts onto that space gives an empirical error floor for any unrestricted decoder on those classes. On a 140-rectangle siRNA interaction panel, a graph neural network's training-only feature mask merges 165 endpoint states into 90 classes and cuts the rank of the 140 interaction contrasts to 72. The resulting floor is 0.009980, which is 14.6% of the fitted model's interaction squared error; the fitted model reaches 0.068335, slightly worse than a control predicting no interaction at all. A minimum of three restored chemistry columns recovers full rank. Refitting without the mask removes the floor entirely, yet interaction MSE improves by only 0.000017 under the reported protocol, and the restored columns remain absent from every training input. On a released RNA-splicing predictor, whose encoding is injective on the measured states, the same computation returns the full design rank of 1,986 and a floor of exactly zero. These results separate what an encoding permits from what a fitted model achieves; they do not identify what limits the remaining error. The rank check needs no fits and bounds what any amount of training under a fixed encoding can recover. The project repository is available at https://github.com/shadi97kh/REPRESENTABLE-BUT-UNLEARNED.

We study how Gemma 4 31B represents African languages and responds to cultural steering. The first study compares nine African languages and three controls using probes, contrast directions, and measures of representation similarity. Transfer from English varies across languages and layers. Directions representing an Africa versus West contrast are more aligned among the African languages than between these languages and the controls at several layers. The comparison across language families passes the reported Holm threshold at five of twelve layers, although dependence between language pairs limits the statistical interpretation. Within Nigeria, Yoruba and Igbo are more aligned than the average of their pairs with Hausa at eleven of twelve layers. The second study uses separate English data to construct directions for Nigeria, Ghana, Kenya, and South Africa. Under union scoring at the selected strengths, estimated differences in attribution rates from random directions range from 0.63 to 0.81. Most outputs pass the automated structural coherence screen. Comparisons with Aya Expanse 32B show that results depend on the representation measure. Together, the studies document regional and family patterns in the sampled representations and country steering in English.

Gradient-based reward guidance provides a flexible way to use downstream reward models to control masked diffusion language models at inference time. However, its computational cost remains high as each decoding iteration incurs expensive diffusion model forward passes and reward model backpropagation steps. To address this, we introduce FastGuide, an adaptive hybrid of parallel and autoregressive decoding to accelerate reward guidance for diffusion language models. In analogy to parallel decoding, FastGuide amortizes the cost of reward model backpropagation by computing guidance once per decoding step and reusing it to generate multiple tokens. Within each decoding step, FastGuide makes diffusion forward passes autoregressive by unmasking tokens one at a time while efficiently recomputing token distributions after each unmasking by utilizing KV caching techniques and sparse recomputation of attention. Lastly, to adapt hybrid decoding to the model's confidence, FastGuide defers any token that the model is unconfident about under its recomputed distribution. Experiments on three reward benchmarks demonstrate that FastGuide is up to $4.4\times$ faster than sequential reward-guided decoding while retaining similar generation quality.

Computer-use agents (CUAs), while capable of completing computer tasks in everyday and professional workflows, can cause unintended harm even under benign instructions and environments. However, detecting such harm remains challenging. First, it requires careful, task-specific reasoning: verifiers guided only by general safety criteria often overlook many important but subtle harmful behaviors. Second, it requires active investigation: past trajectory screenshots show what the agent did but not always what actually changed in the environment, so LLM-as-a-judge verifiers that rely on screenshots alone may be unable to determine the actual consequences of actions. To address these challenges, we introduce SCOUT, a two-stage agentic safety verifier that synergizes reasoning-intensive rubric generation with tool-intensive evidence gathering. First, our SCOUT rubric generator extensively reasons over the task and the agent's trajectory to determine what successful and safe execution should entail, generating task-specific completion and safety rubrics. Then, our SCOUT probing agent follows these rubrics to interact with the post-execution environment and collect grounded evidence for final safety and completion judgments. We evaluate our framework on two computer-use safety benchmarks. On AutoElicit-Bench, SCOUT achieves 75.4 unsafe F1 and 74.5 completion F1, outperforming LLM-as-a-judge verifiers and naive tool-use verifiers. SCOUT leads on OS-Blind with 76.4% unsafe detection accuracy. Test-time reflection reduces final unsafe execution rates from 30.2% to 17.2% on AutoElicit-Bench. Ablations and analysis show that tool-free rubric generation in SCOUT elicits substantially more reasoning and is crucial for safety detection across verifier backbones, especially non-frontier ones. A preliminary extension to coding tasks shows that SCOUT can support safety verification beyond computer-use.

Diffusion models can produce striking images and videos, but they still struggle with the compositional details that make a generation faithful to a prompt, such as object counts, attribute binding, spatial relations, and temporally grounded actions. A common way to improve prompt satisfaction is to spend more compute at test time through Best-of-N sampling, but final-sample selection is fixed. Best-of-N can only choose among completed outputs and cannot repair a promising trajectory before it fails. We introduce PreviewDiff, a training-free test-time search method that turns diffusion sampling from scalar search into a multimodal critic-guided search over intermediate latents. At selected denoising checkpoints, PreviewDiff decodes a partial preview, asks a multimodal judge to score and critique it, and uses the resulting natural-language feedback to branch over semantic prompt edits and locally re-noised latent continuations. These branches are then scored and selectively rolled forward, allowing verifier compute to guide generation while the sample is still editable. Across image and video generation benchmarks, PreviewDiff consistently improves over budget-matched Best-of-N selection and strong scalar-search baselines. Ablations show that earlier interventions and increased search width provide the largest gains, while deeper search and additional semantic variants offer complementary improvements. PreviewDiff demonstrates that multimodal feedback is most useful not only as a final verifier, but as an active controller inside the denoising process.

Wireless communication under 1 GHz is suitable for Internet of Things (IoT) applications due to larger coverage capability with less power consumption. Bearing in mind that people and elements contained in the environment can cause variations in the channel, this paper aims to evaluate the effect of the presence of people on a 900-MHz indoor narrowband wireless channel, as we characterize the small-scale phenomena. With the increase in the number of people, a greater variation in the communication channel was noticed, which is reflected in the parameters of the probability distributions used in the characterization of the random part of the signal. In addition, second-order statistics were used to analyze the data and an adherence test was applied to confirm the behavior of the signal in relation to the distributions.

Extracted sentiment directions can vary across samples even when downstream sentiment classification remains accurate. To evaluate direction reproducibility, we measure split-half agreement in English, Hausa, and Yoruba representations across four language models using both native and translated texts. We identify layers selected for agreement using ten topics and evaluate direction agreement across separate groups of fifteen topics. Using the final token, split-half agreement ranges from 0.737 to 0.870 for English, 0.589 to 0.762 for Hausa, and 0.101 to 0.399 for Yoruba, maintaining this language rank order across all 77 complete model comparisons. Classifiers trained on these same layers consistently predict sentiment above chance, demonstrating that predictive accuracy does not imply directional consistency. Furthermore, averaging token representations yields less consistent agreement, and high agreement can partially reflect sentence length. Ultimately, our findings highlight the need to measure vector direction reproducibility independently of classification performance, though they do not establish that tokenizer fertility which is the average number of tokens per whitespace separated word causes cross-lingual differences.

Learning from scientific measurements often requires aligning modalities with different spatial support and resolution. Subsurface characterization is an extreme dense-sparse problem in which 3D seismic provides volumetric but indirect measurements and well logs provide high-resolution 1D measurements at sparse borehole locations. We introduce a physically grounded cross-modal masked autoencoder (CM-MAE) for seismic-to-well representation learning. The model jointly tokenizes seismic volumes and well-log depth patches, embeds both modalities in continuous physical coordinates using four-axis rotary position embeddings, and reconstructs masked targets with a cross-modal decoder. Sparse Mixture-of-Experts layers provide modality-specific capacity while dense attention allows information exchange between modalities. Pretraining uses 23 seismic volumes covering approximately 178,000 square km across U.S. offshore and onshore basins, together with approximately 92,000 wells. Matched-mask ablations show strongly asymmetric information flow. Seismic context improves held-out well-log reconstruction by 9.73%, while well-log context improves seismic reconstruction by 0.65%. We evaluate seismic-only pseudo-log predictions against independent interpreter-drawn salt-geobody masks to determine whether they contain geologic signal. Across offshore U.S. surveys, compressional-slowness-derived salt scores reach an AUROC of 0.910. In onshore basins, predicted compressional slowness preserves formation-scale structure and partial relative organization in an unseen survey despite calibration drift. CM-MAE learns useful seismic-to-well representations under extreme modality asymmetry, although absolute pseudo-log calibration remains survey-dependent.

Scientific figures are designed to communicate information visually, yet MLLMs typically explain them by translating their visual content back into text. This requires readers to manually map the resulting explanations back to the figure. Inspired by how people present visual information, we introduce FigAct, a framework that transforms static scientific figures into question-conditioned visual presentations by acting directly on their existing graphical elements. Like a human presenter, FigAct generates a sequence of short narrations, grounds each narration in the corresponding visual evidence, and applies visual actions to guide the viewer's attention. We develop a hierarchical search strategy for efficient element localization, reducing token usage by approximately 40$\times$. We further train FigAct-8B using three task-specific rewards for grounding accuracy, search efficiency, and rendering quality. We further build a human-verified benchmark from figures in real-world scientific papers to evaluate the ability of MLLMs to generate grounded visual explanations. Our results demonstrate the effectiveness of FigAct and show that treating scientific figures as presentation canvases makes explanations clearer and easier to follow.

Routine chest CT captures upper-abdominal structures that may contain clinically relevant incidental abnormalities. Detecting these findings requires feature extraction from organs with different spatial extents and attenuation patterns. We propose FD-AA, a lightweight organ-aware classification head adaptable for frozen 3-D CT encoders. Within each organ, an attenuation-aware module preserves sparse focal evidence, while masked generalized-mean pooling captures diffuse anomaly patterns. In seven abdominal organs, FD-AA with Pillar-0 achieved state-of-the-art (SOTA) performance in both the CT-RATE test set (AUC = 0.798) and the external RAD-ChestCT dataset (AUC = 0.713). More specifically, FD-AA improved macro AUC/AP from 0.763/0.346 to 0.798/0.405 over direct classification using frozen Pillar-0 only (p = 0.034/0.016). Such performance gain generalizes across multiple frozen encoders (AUC improvement on MedicalNet +9.8%, CT-CLIP +14.7%, ResNet +3.7%), demonstrating the effectiveness of FD-AA across different feature representations. These results support the effectiveness of integrating focal-diffuse aggregation with explicit HU evidence for incidental abdominal abnormality detection.

Symbolic Regression (SR) is a data-driven method for scientific discovery which searches for interpretable analytical relationships within data. Recently, Large Language Models (LLMs) have also had a significant impact on scientific discovery, enabling the automation of various stages of the process. For these reasons, the possibility of harnessing the embedded scientific knowledge and programming capabilities of LLMs to solve SR tasks has emerged, showing promising performance compared with traditional methods. We propose EvoMO-SR, a novel LLM-driven SR framework in which the LLM generates equation skeletons, with their coefficients fitted separately by an external optimizer. The framework includes a multi-objective survival selection which controls bloating by balancing accuracy and complexity, and a substructure guidance mechanism which mutates expressions with candidate reusable building blocks. EvoMO-SR achieves the best accuracy in seven of the eight in-domain and out-of-domain settings for LSR-Synth, using a small LLM model, i.e., Llama-3.1-8B-Instruct. We also evaluated structural recovery through two symbolic accuracy metrics based on canonicalized subtree overlap and term matching, showing that our method has a greater probability of recovering highly accurate symbolic structures.

For a graph $H$, $\langle H \rangle$ denotes the class of all subdivisions of $H$ and $tw(H)$ denotes the treewidth of $H$. In this paper, we prove the following. For $k\geq 1, R\geq 1$, let $G,H$ be two graphs such that strong isometric path complexities (Chakraborty et al. [Disc. Math., 2026]) of both $G$ and $\langle H \rangle$ are at most $k$, and $G$ admits an honest, “nicely rooted” $R$-bounded $H$-partition. Then, there is a graph $F$ with $tw(F)\leq tw(H)$ such that $G$ admits a $(1,33\cdot R\cdot k^2)$-quasi-isometry to $F$. Using results of Albrechtsen, Distel, and Georgakopoulos (2025), we also obtain that $K_{2,t}$-asymptotic minor-free graphs admit quasi-isometries with additive distortion to $K_{2,t}$-minor-free graphs. This answers an open question raised by the above authors. As part of our proof, we combine the graph-partition based method and the layering partition based method (Chepoi et al. [Discrete Comput. Geom. 2012]) to obtain additive quasi-isometry when both the source and all subdivisions of the target graph have bounded strong isometric path complexity.

Robot manipulation policies are usually trained under the assumption that a commanded action produces the same motion as it did during training even after hours of operation. Real hardware violates this assumption as the motors gradually heat up, current saturates near contact, voltage sags under load, thus the same policy action can produce a weaker, delayed, or noisier motion. These conditions are already measured by onboard telemetry, such as joint temperature, motor current, and supply voltage, yet this signal is typically used only for logging or safety checks rather than policy adaptation. We introduce Telemetry-Aware Action Rectification (TeAR), a policy-agnostic method that turns a frozen manipulation policy into a telemetry-conditioned policy by rectifying its outgoing action before it reaches the low-level controller. TeAR learns a lightweight Transformer that combines the proposed action with live actuator telemetry and amplifies, damps, or biases individual action components. We evaluate TeAR across 18 policy-task pairs spanning 8 policy families and 5 manipulation tasks. In an additional paired evaluation with degradation-model mismatch, TeAR achieves 31.8% success, compared with 25.6% for the base policy and 30.6% for an assumed-model inverse. On a physical arm, TeAR improves success under heating by 10-15% without on-robot fine-tuning.

While the amount of telecommunications services grows rapidly in the whole world, humans get potentially more exposed to Non-Ionizing Radiation (NIR) from a number of different sources. This paper has a number of goals, including monitoring radiation levels in an everyday situation, an investigation of how national and international regulations organs address NIR levels and a demonstration of scientific production trends regarding this topic. The work also presents a bibliometric study about the main scientific productions and trends related to NIR measurements, with focus on the field of Telecommunications. Another contribution is a case study in Natal, Brazil, where NIR levels were monitored in four distinct locations over a period of 24 hours each and compared to the current regulations. The result is a quantitative analysis of the amount of radiation that some populations might be exposed to in distinct moments of the day. Measurements were carried out in the proximity of an antenna spot, since it could represent a source of high NIR levels (a worst case of human exposure). This campaign differs from older studies by including a more intense usage of microwaves frequencies due to operating 4G and pre-5G systems in Brazil. Finally, a statistical study involving the measurements is conducted, concluding the analysis of how some population groups might be affected by NIR.

Group Relative Policy Optimization (GRPO) has become a promising approach for training large language model agents. However, its uniform assignment of trajectory-level advantages to all policy tokens fails to distinguish consequential decisions from less relevant ones, obscuring which intermediate decisions contributed to success. We introduce ProVer, a framework that targets potentially pivotal decisions for fine-grained credit assignment in agentic reinforcement learning. Given a rollout group, an agentic judge contrasts successful and failed trajectories to propose a segment potentially responsible for their divergent outcomes. Rather than directly trusting the judge's assessment, ProVer verifies the proposed segment by estimating its advantage from the difference in terminal success rates between current-policy continuations sampled before and after the segment. Positive estimates are then incorporated into the GRPO advantages of policy tokens within the proposed segment. By using model judgment only to select where to verify, ProVer grounds local credit in observed outcomes without exhaustively evaluating every intermediate state. Across ALFWorld, WebShop, and SearchQA, ProVer achieves the strongest average performance at both model scales, with relative improvements over GRPO of 9.91% and 7.12% for Qwen3.5-2B and Qwen3.5-4B, respectively. Further analyses demonstrate that informed segment selection improves policy training with modest additional generation overhead, even without a frontier-scale judge model, highlighting the effectiveness and efficiency of selectively targeting pivotal decisions for fine-grained credit assignment in agentic reinforcement learning.

Tablet-based teaching and learning has become increasingly common in university mathematics courses, offering capabilities such as digital ink, dynamic visualisation, and real-time annotation. However, there is limited experiential evidence regarding how students perceive the specific benefits and drawbacks of tablet-supported teaching and learning, particularly in Transnational Education (TNE) settings. This paper presents results from a small-scale exploratory survey of undergraduate students ($n = 19$) attending mathematics courses within an applied sciences degree programme, who anonymously rated a set of statements regarding their experiences with tablet-based instruction on a five-point Likert scale. Initial analysis shows that students in this cohort perceived tablet teaching most positively in supporting step-by-step understanding and active engagement during lectures through real-time annotation and structured note-taking. In contrast, perceptions related to long-term recall, interest in mathematics, and preference over alternative teaching methods were more mixed. These findings suggest that students in this cohort perceived tablet-based teaching positively for supporting procedural understanding, while perceptions of other aspects of learning appeared more varied.

We consider fair resource allocation in sequential decision-making environments modeled as major-minor weakly coupled Markov decision processes (M2WCMDP). In this framework, resource constraints couple the action spaces of a major sub-Markov decision process (sub-MDP) and a population of minor sub-MDPs that would otherwise operate independently. Instead of using the traditional utilitarian (total-sum) objective, we optimize a general class of monotone, concave, permutation-invariant, normalized fairness functions. With homogeneous minor sub-MDPs, we prove that the problem under symmetry reduces to optimizing the platform-plus-mean-participant utilitarian objective over the class of permutation-invariant policies, which allows us to exploit efficient algorithms that optimize the utilitarian-based objective to solve this fairness-aware problem. For more general settings, we introduce a count-proportion-based deep reinforcement learning approach with a priority-based sampler that generates feasible count actions. The generality of our framework means that the proposed algorithms and theoretical guarantees transfer to any domain with a symmetric M2WCMDP structure. We consider two applications: the machine replacement problem and the joint control of pricing and taxi relocation problem on a New York City-calibrated dataset. We validate our theoretical findings with comprehensive experiments, confirming the effectiveness of our proposed method in achieving strong fairness-aware performance while remaining scalable.

Parallel speculative drafting generates multiple candidates in one backbone pass, but independent token selection can produce inconsistent continuations that shorten the accepted prefix. Existing methods mostly leave conditional decoding to a lightweight module after the backbone, which limits the flow of predecessor information to successors. Our analysis of DFlash shows that early positions already form recoverable predictions in shallow layers, and that accurate adjacent predecessors help successors more when they enter earlier. We therefore propose DSpine, a drafter with causal conditioning injection throughout the backbone: at every layer, gated adjacent injection writes each predecessor's predicted feature into its successor, so the causal conditioning chain unfolds over network depth while all positions update in parallel. A unified transfer space built from the target model's output embeddings unifies layer-wise injection with predecessor-conditioned decoding, and layer-wise output-embedding supervision promotes the formation of predicted features in shallow layers. Fused kernels and a transition cache execute both efficiently in parallel within SGLang. Across seven math, code, and chat benchmarks, DSpine achieves the longest acceptance length at both temperatures on Qwen3-4B and Qwen3-8B. At temperature zero on Qwen3-8B, it raises the seven-benchmark mean from DFlash's 3.77 to 4.82 (+27.8%); in SGLang serving tests, it delivers 23.3% higher throughput than DFlash on average. Project page: https://dspine-project.github.io

Figuring out how objects relate to each other, like whether they touch, overlap, stay completely separate or one sits inside another, matters a lot in fields like GIS, biomedical imaging, and robotics. Even though machine learning has come a long way, people haven't really focused on spotting these topological relationships in images. The main roadblocks? Not enough good datasets and no clear way to measure results. So, we rolled up our sleeves and built a new dataset. It's pretty sizable: over 11,000 labelled images showing all those essential relationships. We ran tests with some classic machine learning models, Naive Bayes, KNN, Random Forest, SVM, and Artificial Neural Networks, and threw in some deep learning stars like VGG16 and InceptionResNetV2. For the dataset itself, we used segmentation, contour detection, and grayscale normalization to tease out solid feature vectors. The results? Deep learning methods, especially VGG16, pulled ahead, with validation accuracy hitting 89.55%. That's a big jump compared to the traditional models. This shows how powerful transfer learning is for analyzing topological relationships in images, and it gives researchers a new standard to aim for in future work on spatial reasoning and topological classification.

Large-scale demonstrations have driven unprecedented progress in robot learning, yet collecting robot data through teleoperation is expensive and difficult to scale to diverse environments and long-horizon tasks. Simulation offers a scalable alternative, but existing data-generation pipelines often rely on open-loop controllers, scripted skill sequences, or task-specific programs. We introduce SkillWeaver, an agentic framework that autonomously generates robot experience by exploring over Neural Interaction Skills (NIS): reusable, parameterized, closed-loop policies that expose learned physical interaction capabilities to a reasoning agent. Given a task and a simulated environment, a VLM agent reasons about what to do next, invokes and parameterizes NIS to interact with the environment, observes their outcomes, and generates verification, reflection, and memory to guide subsequent exploration. We instantiate NIS as reinforcement-learned policies for closed-loop, contact-rich manipulation and organize exploration as verifier-guided tree search, enabling the agent to discover successful long-horizon behaviors without relying on predetermined execution pipelines. SkillWeaver scales autonomously to 39.1K demonstrations across 14.1K scenes, which we distill into visuomotor policies. Across simulation benchmarks and real-world manipulation, training on SkillWeaver-generated experience substantially improves generalization to novel objects, spatial configurations, tasks, and environments, and enables zero- and few-shot sim-to-sim and sim-to-real transfer. Our results suggest agentic exploration over neural interaction skills as a scalable alternative for robot data generation.

AI coding agents fail in two coupled ways. They spend most of their context window rediscovering where things live, and they assert success without evidence when the work gets hard. Repository indexes address the first with cheap context, and orchestration frameworks with adversarial review address the second with accountability. Both describe the same object, the structure of the codebase, at two timescales: what is true of the code now, and what was verified to be true, at which revision, by whom. Assay makes that observation operational. Every claim an agent makes (tests pass, no secrets, behavior preserved) is bound to the Merkle hash of the dependency cone of the code it covers, so the claim is stale exactly when that code or anything it depends on changes. We show the binding is sound and minimal, and that the blast radius of a change is precisely the set of claims it invalidates. On the graph we place a risk-proportional evidence obligation, a bounded review protocol with separation of duties, and a merge gate that consults no model: coverage, freshness, signatures, exit codes, plausibility, evidence monotonicity (the mechanical form of "do not delete the failing test"), and review status. Assay is a dependency-free Python tool with an MCP server. On five public repositories a 600-token brief costs 14x to 114x less than an exploration proxy, warm rebuilds are up to 5x faster than cold ones, cone binding re-verifies 7.9% to 81.9% of claims where repository binding re-verifies all of them while per-module binding misses 23% to 68% of required invalidations, and the gate blocks 9 of 9 scripted adversarial behaviours while admitting the honest ones. Every number in this paper is generated by the released scripts.

Depth completion aims to recover dense metric depth from sparse sensor measurements, increasingly leveraging visual foundation models as geometric priors. However, aligning these priors to true metric scale typically relies on rigid affine assumptions in predefined coordinate systems, leaving systematic calibration errors. Linearity in depth calibration depends on the response coordinate. We introduce adaptive response geometry, which makes the fixed choice of depth, log depth, or disparity an image-level unknown. A continuous response family unifies these coordinates and defines an explicit depth-dependent gain. We derive the response-gradient relation and estimate the response parameters in metric space. Hard-Dirichlet residual reconstruction completes the calibrated prior. Under deliberately incomplete metric observations, the training-free pipeline achieves macro AbsRel 0.0301 and macro NMed 14.04{\deg}, improving both aggregate measures over PriorDA, LDCM, and Any2Full. Linearity diagnostics examine how the selected response changes the depth relation and its metric error.

Distributed Denial of Service attacks are a growing threat to network infrastructure, and new techniques, including the use of generative AI, make them harder to detect. Traditional detection systems, such as rule based firewalls, often fail to identify these evolving attack patterns. In this study, we propose a new method for detecting DDoS attacks by combining synthetic data generation using Generative Adversarial Networks with a Random Forest classifier. The GAN generated data showed 80.3 percent cosine similarity to real traffic, which helped the model learn underlying traffic patterns more effectively. To address imbalances in the data, especially in packet related features, we applied adversarial debiasing. This reduced the model's sensitivity to skewed distributions in variables such as forward and backward packet counts and total byte lengths. Our results show that models trained on a mix of synthetic and real data achieved significantly better performance: 99.98 percent accuracy on benchmark data and a 22.60 percent improvement when tested on previously unseen synthetic traffic. This suggests that the method can generalize well across different traffic scenarios and adapt quickly to new types of attacks. The proposed approach not only improves DDoS detection but also provides a scalable foundation for security models that account for bias and benefit from data augmentation. Our findings show that combining GANs with adversarial debiasing can lead to more robust and effective DDoS mitigation, supporting the further development of machine learning based cyber security.

In this work, we develop a second-order optimization framework for physics-informed neural networks (PINNs) applied to high-dimensional parametric partial differential equations (PDEs). The framework is built on the Gauss–Newton pullback metric, which provides an operator-informed notion of curvature in parameter space and connects the method to the broader family of natural gradient schemes. We show that, for coordinate-separable neural architectures and linear differential operators (or linearized operators in the nonlinear case) admitting a finite separable representation, the residual Jacobian inherits a structured separable factorization. This yields an exact compressed formulation of the Gauss–Newton step in a reduced space, without assembling the full residual Jacobian on the exponentially large tensor-product collocation grid. The dimension of the reduced space (the effective compressed dimension) is determined by the local collocation grid sizes, the separable operator structure, and the contraction pattern of the architecture, thereby avoiding dependence on the full tensor-product grid size and replacing dense linear algebra in parameter space by a substantially smaller structured problem. Within our framework, we investigate canonical polyadic and tensor-train parametrizations and derive their full algebraic characterization relevant to the Gauss–Newton method, including the structure of the residual Jacobian, the resulting compressed system, and its effective compressed dimension. Numerical experiments on high-dimensional PDEs, including parametric problems, demonstrate the high efficiency of the proposed compressed Gauss–Newton method, which achieves substantially lower errors than tensor-compressed first-order baselines with orders of magnitude fewer iterations and only a fraction of the computing time.

This work presents a Non-Ionizing Radiation (NIR) measurement campaign and proposes a specific measurement method for trajectography radars. This kind of radar has a high gain narrow beam antenna and emits a high power signal. Power density measurements from a C-band trajectography radar are carried out using bench equipment and a directional receiving antenna, instead of the commonly used isotropic probe. The measured power density levels are assessed for compliance test via comparison with the occupational and general public exposure limit levels of both the International Commission on Non-Ionizing Radiation Protection (ICNIRP) and the Brazilian National Telecommunication Agency (Anatel). The limit for the occupational public is respected everywhere, evidencing the safe operation of the studied radar. However, the limit for the general public is exceeded at a point next to the radar's antenna, showing that preventive measures are needed.

In this paper, we study the conditions under which covert communication at positive rates is feasible over discrete memoryless classical, classical-quantum, and quantum channels. For classical point-to-point channels, we show that if the dimension of the channel input probability simplex exceeds that of the channel output probability simplex, equivalently, if the input alphabet has larger cardinality than the output alphabet, then positive covert rates are achievable for certain classes of Discrete Memoryless Channels (DMCs). We further show that allowing the innocent symbol (i.e., the symbol transmitted in the no-communication mode) to be chosen appropriately can enlarge the class of DMCs for which positive covert rates are achievable. We also study covert communication over classical Multiple-Access Channels (MACs), where the additional transmitter effectively enlarges the set of available channel input pairs, and we show that the conditions required to satisfy the covertness constraint are less restrictive for MACs than for point-to-point channels. We extend these results to classical-quantum DMCs by showing that if the dimension of the input probability simplex exceeds the affine dimension of the set of output states that can be induced at the channel output, then positive covert rates are achievable for certain classes of classical-quantum DMCs. Finally, for quantum channels, we show that if the innocent state (i.e., the state transmitted in the no-communication mode) is mixed, then the covertness constraint can always be satisfied by a non-trivial input ensemble. Consequently, positive covert rates are achievable whenever the legitimate receiver can distinguish at least two states in a suitable such ensemble.