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01.
arXiv (CS.AI) 2026-06-24

JupOtter: Cell-Level Bug Detection in Jupyter Notebooks

Authors:
Lukas Ottenhof↗Thibaud Lutellier↗

arXiv:2606.23877v1 Announce Type: cross Abstract: Jupyter Notebooks are an increasingly popular coding environment used across many domains, especially in Python-based data science and scientific computing. Originally used for prototyping and interactive exploration, notebooks are increasingly used to develop more complex programs, leading to a rapid rise in buggy notebooks on platforms like GitHub. To address this trend, we present JupOtter, a bug detection system designed specifically for Jupyter Notebooks. JupOtter features three novel contributions: (1) a notebook-specific tokenization strategy that preserves cell structure, (2) a cell-level bug prediction technique, and (3) a new labeled dataset, OtterDataset, containing over 21,000 notebooks annotated for fine-grained cell-level bug detection. JupOtter achieves cell-level bug detection F1 scores that surpass static analyzers and large language models in two out of three evaluation datasets.

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02.
arXiv (CS.LG) 2026-06-19

SSH-Net: A Deep Neural Network for Predicting Failure Time Distribution Functions under Competing Risks with Application to GPU Data

Authors:
Jie Min↗Yueyao Wang↗Mengkun Chen↗

arXiv:2606.20451v1 Announce Type: cross Abstract: Competing risks are commonly observed in engineering fields and can bring challenges to time-to-event data modeling when the application scenarios are complicated. Recently, deep neural networks have received great attention for prediction with competing risks, due to their flexibility and high learning capability. However, the complexity of neural network structure brings extra difficulty in hyperparameter tuning based on different data inputs. Additionally, when an engineered system has complex physical structures with multiple hierarchical levels, treating all structural levels as a single group of inputs may fail to capture critical information. To address the issues, we propose a Structured Segmented Hazard Deep Neural Network (SSH-Net) for failure time prediction under cause-specific competing risks framework. Our approach associates neural network structure with data structures, and allows different covariate groups to impact the failure prediction through separate sub-networks. The neural network is constructed based on a cause-specific competing risks model. The SSH-Net outputs cause-specific hazard functions, and utilizes the penalized log-likelihood as the loss function. The prediction accuracy of SSH-Net is validated through simulation studies by evaluating the Brier score, the area under receiver operating characteristic curves (AUC), and the root mean square error (RMSE) of the predicted cause-specific cumulative incident function. We further demonstrate the model's ability to predict failure time distribution functions using the Titan GPU failure time data.

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03.
medRxiv (Medicine) 2026-06-15

Data-Driven Stochastic Model for Detecting Patientswith Alzheimer's Disease

Authors:
Abeywardana↗G. D↗Tsokos↗

Alzheimer s disease (AD) is a critical neurological disorder that causes the brain to shrink and leads to the eventual death of brain cells, adversely affecting a person s ability to function. AD is a fast-growing disease in the United States and was the fifth leading cause of death among Americans 65 years of age or older in 2023. In the United States 6.9 million people aged 65 or older were diagnosed with AD, along with a high rate of undiagnosed patients. Thus, the objective of our study is to develop a real data-driven predictive model to identify a patient with AD based on eight risk factors: Age, Gender, ADAS-Cog13, Entorhinal, Fusiform, Intracranial Volume (ICV), Amyloid-Beta, and Tau Protein, with a high degree of accuracy. The quality of the model was evaluated using well-established and sophisticated statistical measures: the area under the receiver operating characteristic curve, calibration plot, Hosmer-Lemeshow goodness-of-fit test, and K-fold cross-validation. If a patient is given information on the above risk factors, our proposed binary logistic regression model can classify the patient as having AD or not with at least 98% accuracy.

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04.
arXiv (CS.CV) 2026-06-16

CLAP: Contrastive Latent Action Pretraining for Learning Vision-Language-Action Models from Human Videos

Authors:
Chubin Zhang↗Jianan Wang↗Zifeng Gao↗Yue Su↗Tianru Dai↗Cai Zhou↗Jiwen Lu↗Yansong Tang↗

Generalist Vision-Language-Action models remain constrained by the scarcity of robotic data relative to the abundance of human video demonstrations. Existing Latent Action Models attempt to use video data but often suffer from visual entanglement, encoding noise rather than manipulation skills. To address this limitation, we propose Contrastive Latent Action Pretraining (CLAP), a framework that first uses Act-VAE to learn an executable action-token vocabulary from robot trajectories and then aligns human visual transitions with this vocabulary through contrastive learning. This alignment maps unlabeled human videos into a physically grounded latent action space rather than reconstructing appearance. Building on the aligned tokens, we train CLAP-NTP as an autoregressive VLA using robot demonstrations and pseudo-labeled human videos, preserving instruction following and object generalization. For deployment and target-domain adaptation, we further introduce a post-training strategy that combines CLAP-RF, a Rectified Flow action head for low-latency continuous action chunk prediction, with Knowledge Matching regularization to preserve pretrained semantic knowledge during fine-tuning. Extensive experiments show that CLAP achieves strong performance against competitive baselines while enabling effective skill transfer from human videos to robotic execution.

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05.
arXiv (CS.AI) 2026-06-12

Improving Crash Frequency Prediction from Simulated Traffic Conflicts Using Machine Learning Based Microsimulation

Authors:
Xian Liu↗Carlo G. Prato↗Gustav Markkula↗

arXiv:2606.12500v1 Announce Type: cross Abstract: Traffic microsimulation combined with surrogate safety measures has increasingly been used as a proactive alternative to historical crash data for predicting crash frequency for current or planned road infrastructure designs. However, existing microsimulation-based safety studies have adopted simplified rule-based behaviour models, which reproduce traffic flow reasonably well but often fail to generate realistic conflict dynamics, limiting crash prediction accuracy. Recent advances in machine learning (ML)-based behaviour models offer a promising opportunity to potentially improve microsimulation realism and crash frequency predictions by learning human driving behaviour directly from large-scale trajectory datasets. To investigate this possibility, traffic microsimulation was conducted for five real-world signalised intersections in Leeds, UK, using both a standard rule-based model and a state-of-the-art ML model. Simulated vehicle trajectories were analysed using a two-dimensional Time-to-Collision metric to identify simulated conflicts, which were then modelled using Extreme Value Theory to predict crash frequency. Results show that conflicts from the ML model yielded crash predictions in line with the real-world crash data, whereas the rule-based model did not permit meaningful predictions, presumably due to a lack of model calibration to the specific simulated intersections. Directly using ML-generated simulated crashes to predict real-world crash frequency also yielded poor results, suggesting that while current ML models can realistically reproduce conflicts, they are not yet able to generate realistic crashes. Overall, the findings demonstrate that ML-based behaviour models are promising for improving crash prediction from simulated conflicts, without a need for location-specific model calibration, and suggest clear future directions for ML-based traffic microsimulation.

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06.
arXiv (CS.CV) 2026-06-12

Analyzing and Improving Fine-grained Preference Optimization in Medical LVLMs

Authors:
Shayan Mohammadizadehsamakosh↗Pritam Sarkar↗Leonid Sigal↗Ali Etemad↗Elham Dolatabadi↗

Large Vision-Language Models (LVLMs) have achieved strong performance across medical imaging tasks, yet they remain prone to factual inconsistencies, poor visual grounding, and misalignment with clinically meaningful feedback. Existing post-training alignment approaches, including Direct Preference Optimization (DPO) and its variants, face three critical limitations in the medical domain: (1) sequence-level reward signals treat clinically critical tokens identically to generic filler text; (2) reliance on static supervised fine-tuning references as preferred responses introduces an off-policy distribution shift, steering optimization toward stylistic artifacts over clinical correctness; and (3) alignment objectives lack explicit visual grounding constraints, leaving models insensitive to subtle yet diagnostically decisive pathological features. Our method leverages a bidirectional token-wise KL regularizer alongside a visual-contrastive grounding objective that pairs clean and lesion-corrupted images to penalize responses generated without adequate visual evidence. Together, these components form a fine-grained, on-policy alignment framework that constructs preference pairs by minimally editing model-generated outputs, correcting only clinically erroneous spans while preserving the original linguistic style. Extensive experiments across medical imaging tasks and clinical text generation benchmarks validate the effectiveness of our approach.

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07.
arXiv (CS.CL) 2026-06-18

Output Vector Editing for Memorization Mitigation in Large Language Models

Authors:
Ahmad Dawar Hakimi↗Kaiwei Lei↗Isabelle Augenstein↗Hinrich Sch\"utze↗

Large language models memorize and reproduce sequences from their training data, creating privacy, copyright, and security risks. Existing neuron-level mitigation methods equate editing with zeroing out neuron activations, but the activation only controls whether a neuron engages; the output vector is what writes to the residual stream and, through superposition, encodes multiple features. We propose output vector editing, a constrained-optimization weight edit that locates a small set of MLP neurons responsible for a memorized continuation and minimally modifies their output vectors to introduce a distractor in vocabulary space, redirecting their residual-stream contributions while leaving activations unchanged. Evaluating on four models from 360M to 7B parameters (SmolLM-360M, OLMo-1B, OLMo-7B, Llama2-7B), we center on OLMo-7B (whose open weights and pretraining corpus enable systematic mining) and mine 6831 memorized sequences, achieving up to 87.9% suppression. The 2.7$\times$ gap over zero ablation on the same located neurons shows the suppression comes from the output-vector edit, not localization alone. Four edit modes span a spectrum from aggressive suppression to minimal redirection; in ensemble they cover 96.5% of memorized sequences, while our recommended single-mode configuration reaches 81.5% with no catastrophic locality failures. We further identify a mechanistic boundary at ${\sim}14%$ of sequences unreachable by MLP-only editing; while these failures are not attention-driven overall, ablating the top contributing attention heads recovers 60–64% of them, with stronger recovery on continuations that copy tokens from the prefix, positioning attention as a complementary fallback rather than a primary mechanism. Edit mode ordering and the success-locality trade-off transfer across all four models, with success rates scaling with model size rather than family.

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08.
arXiv (CS.AI) 2026-06-19

ENPIRE: Agentic Robot Policy Self-Improvement in the Real World

Authors:
Wenli Xiao↗Jia Xie↗Tonghe Zhang↗Haotian Lin↗Letian "Max" Fu↗Haoru Xue↗Jalen Lu↗Yi Yang↗Cunxi Dai↗Zi Wang↗Jimmy Wu↗Guanzhi Wang↗…

arXiv:2606.19980v1 Announce Type: new Abstract: Achieving dexterous robotic manipulation in the real world heavily relies on human supervision and algorithm engineering, which becomes a central bottleneck in the pursuit of general physical intelligence. Although emerging coding agents can generate code to automate algorithm search, their successes remain largely confined in digital environments. We conjecture that the missing abstraction to automate robotics research is a repeatable feedback loop for real-world policy improvement: reset the scene, execute a policy, verify the outcome, and refine the next iteration. To bridge this gap, we introduce ENPIRE, a harness framework for coding agents that instantiates this physical feedback routine with four core modules: an Environment module (EN) for automatic reset and verification, a Policy Improvement module (PI) that launches policy refinement, a Rollout module (R) to evaluate policies with one or multiple physical robots operating in parallel, and an Evolution module (E) in which coding agents analyze logs, consult literature, improve training infrastructure and algorithm code to address failure modes. This closed-loop system transforms real-world manipulation learning into a controllable optimization procedure, minimizing human effort while allowing fair ablations across training recipe and agent variants. Powered by ENPIRE, frontier coding agents can autonomously train a policy to achieve a 99% success rate on challenging, dexterous manipulation tasks, such as organizing a pin box, fastening a zip tie, and tool use, a process that further accelerates when we dispatch an agent team on a robot fleet. Our results suggest a practical and scalable path toward deploying coding agents to autonomously advancing robotics in the physical world.

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09.
arXiv (CS.CL) 2026-06-11

Kuramoto Attention: Synchronizing Self-Attention on the Torus

Authors:
Joshua Nunley↗

We introduce Kuramoto attention, a self-attention layer in which each hidden coordinate is an angle. The layer scores tokens by gated cosine similarity, attends over previous phase states, and updates each token by the tangent component of the attention-weighted circular mean. Because the values are the raw phase states, this update is exactly the Kuramoto coupling term $\sum_u A_{t,u}\sin(\theta_u-\theta_t)$, with the attention matrix acting as an adaptive, content-dependent coupling kernel. Equivalently, the gated score is a learned metric on the torus that selects which tokens couple, and the update pulls each token toward the circular mean of the tokens it selects, tightening their phase agreement. The same two ingredients, an invariant similarity score and an on-manifold mean, define such a layer on any compact group; the torus is the abelian case, where both are closed-form. The softmax weights solve an entropy-regularized phase-retrieval problem, and rotary position enters as a position-dependent phase drift in the score. On enwiki8 character-level language modeling, the layer trains as a functional language model whose bits-per-character stays close to a strong matched RoPE+SwiGLU transformer: within $0.02$ BPC at one million parameters ($1.637\pm0.010$ versus $1.616\pm0.004$) and level on the median at five million ($1.448$ versus $1.452$ over five seeds) with the transformer ahead on the mean ($1.468$ versus $1.456$). These experiments establish that the constrained geometric structure is a viable language model at this scale; the structure itself, and its synchronization reading, is the contribution. Ablations isolate the load-bearing components, and the result gives a compact bridge between self-attention and phase synchronization.

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10.
arXiv (CS.AI) 2026-06-24

Governed Shared Memory for Multi-Agent LLM Systems

Authors:
Yanki Margalit↗Nurit Cohen-Inger↗Erni Avram↗Ran Taig↗Oded Margalit↗

arXiv:2606.24535v1 Announce Type: new Abstract: Multi-agent LLM environments require robust mechanisms for shared knowledge management. This paper formalizes the fleet-memory problem and identifies four foundational failure modes: unauthorized leakage, stale propagation, contradiction persistence, and provenance collapse. To address these, we define explicit systems-level primitives: scoped retrieval, temporal supersession, provenance tracking, and policy-governed memory propagation. These primitives are implemented in MemClaw, a production multi-tenant memory service, and evaluated via ArgusFleet, a reproducible harness testing four governance dimensions. Rather than a baseline comparison, this study measures a live production service, emphasizing real-world architectural insights and negative results. Key Evaluation Results Provenance: Successfully reconstructed 100% of depth-four derivation chains with correct writer identity at sub-second per-hop latency. Propagation: Demonstrated high intra-fleet visibility with zero cross-fleet leakage. Under strong write mode, write-to-visible latency was optimized to a single search round-trip. Production Architectural Issues Discovered Asymmetric Scope Enforcement: Tenant isolation held, but sub-tenant scope was initially bypassed on direct GET-by-id requests for agent-scoped credentials (disclosed and remediated during the study). Pipeline Ordering Conflict: While contradiction supersession works for admitted writes, a synchronous near-duplicate gate can prematurely reject contradictory writes before the asynchronous contradiction detector can evaluate them. Conclusion: Long-context retrieval alone is insufficient for production multi-agent memory. Governed shared memory demands explicit systems-level abstractions, and live evaluation is vital to expose enforcement and pipeline-ordering failures missed by design-only treatments.

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11.
arXiv (CS.AI) 2026-06-18

Compute Efficiency and Serial Runtime Tradeoffs for Stochastic Momentum Methods

Authors:
Depen Morwani↗Alexandru Meterez↗Pranav Nair↗Sham Kakade↗

arXiv:2606.19179v1 Announce Type: cross Abstract: Stochastic momentum methods such as heavy ball (HB), Nesterov momentum, and variants of Accelerated SGD (ASGD) [Kidambi et al., 2018] are widely used in modern training, but their stochastic benefits depend on two distinct quantities: serial runtime, the number of iterations needed to reach a target accuracy, and compute efficiency (CE), the inverse total gradient-query or FLOP cost. Larger batches reduce serial runtime without hurting CE only when the contraction gap grows linearly with batch size. We study stochastic HB and ASGD for consistent linear regression with Gaussian covariates and prove finite-dimensional, discrete-time lower bounds on their batch-size tradeoffs. Our first result shows that HB does not improve the CE frontier over SGD for arbitrary spectra; rather, it preserves SGD-level CE over a larger batch-size window, allowing larger batches to reduce serial runtime until HB reaches its deterministic accelerated scale. This window can be a factor $\sqrt{\kappa}$ larger than the SGD critical batch size. For ASGD, the picture is more spectrum-dependent: for rapidly decaying power-law spectra, ASGD improves small-batch CE over HB/SGD, but as batch size grows it trades this CE advantage for improved serial runtime. Synthetic linear-regression experiments verify these qualitative regimes, including near-overlap of ASGD and HB for slowly decaying spectra and the predicted CE–serial tradeoff for rapidly decaying spectra.

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12.
arXiv (quant-ph) 2026-06-24

Analysis of the frequency shift in coherent population trapping resonance's dynamic continuous-wave spectroscopy at the phase-jump modulation and its comparison with the conventional approach

Authors:
E. D. Chivilis↗E. A. Tsygankov↗

arXiv:2606.23908v1 Announce Type: cross Abstract: We present the research of dynamic continuous-wave spectroscopy of the coherent population trapping resonance at the phase-jump modulation. {\Lambda} system of levels supplemented by a nonabsorbing state and bichromatic optical field, whose spectral components have different intensities, are considered. We demonstrate that the asymmetry leads to an additional nonlinear shift of the error-signal frequency under unisotropic relaxation of the ground-state density-matrix elements. We also investigate the conventional approach where the frequency difference of the optical field components is harmonically modulated to obtain the error signal. Comparison demonstrates that in the high-frequency modulation regime the corresponding frequency shift is more linear than at the phase-jump modulation for nonshort integration times.

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13.
arXiv (CS.CL) 2026-06-16

Metacognitive Myopia in Large Language Models

Authors:
Florian Scholten↗Tobias R. Rebholz↗Mandy H\"utter↗

Large Language Models (LLMs) exhibit potentially harmful biases that reinforce culturally embedded stereotypes, influence moral judgments, or amplify positive evaluations of majority groups. We propose metacognitive myopia as a cognitive-ecological framework accounting for a conglomerate of established and emerging LLM biases. Our theoretical framework posits that biased samples in the information environment cause five symptoms of metacognitive myopia in LLMs: integration of invalid embeddings, susceptibility to redundant information, neglect of base rates in conditional computation, decision rules based on frequency, and inappropriate higher-order statistical inference for nested data structures. Moreover, it posits that the two main components of metacognition, monitoring and control, could account for these five symptoms. Accordingly, we further outline how monitoring and control could be approximated technically, for instance, through hidden parallel reasoning histories that allow interactive LLMs to evaluate risks of myopic inference before generating overt responses. Our theoretical framework provides a novel perspective on flawed human-machine interactions and agentic AI and raises significant ethical concerns regarding the implementation of LLMs in organizational structures and high-stakes decisions.

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14.
arXiv (quant-ph) 2026-06-15

An integrated ultrahigh vacuum cluster tool for diamond surface science and single nitrogen-vacancy center measurements

Authors:
Zhiyang Yuan↗Sorawis Sangtawesin↗Lila V. H. Rodgers↗Kalliope Zervas↗James J. Allred↗Jared Rovny↗Patryk Gumann↗Nathalie P. de Leon↗

arXiv:2606.13961v1 Announce Type: new Abstract: We present a custom-designed ultrahigh vacuum (UHV) cluster tool developed for studying shallow nitrogen-vacancy (NV) centers in diamond, enabling in situ diamond surface preparation, characterization, and single NV center dynamics measurements within a single connected platform. The system combines a surface science chamber for controlled surface modification and analysis with a cryogenic confocal microscope chamber dedicated to NV spin and optical measurements. This integrated approach enables a direct correlation between diamond surface chemistry and the resulting NV spin and charge properties. The instrument provides a versatile platform for systematic studies of surface-induced decoherence mechanisms and charge dynamics for shallow NV centers, and establishes a pathway toward reproducible surface engineering for quantum sensing applications.

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15.
arXiv (CS.AI) 2026-06-19

Secure Coding Drift in LLM-Assisted Post-Quantum Cryptography Development: A Gamified Fix

Authors:
R. D. N. Shakya↗C. P. Wijesiriwardana↗S. M. Vidanagamachchi↗Nalin A. G. Arachchilage↗

arXiv:2606.19474v1 Announce Type: cross Abstract: The transition to Post Quantum Cryptography (PQC) introduces considerable implementation complexity, requiring strict adherence to constant-time execution, side channel resistance, and precise parametrisation. Simultaneously, large language models (LLMs) are heavily embedded in software development workflows, including cryptographic engineering. While LLMs improve productivity, evidence shows that they frequently generate insecure or suboptimal code, particularly in security critical domains. This paper introduces Secure Coding Drift in PQC, a novel socio technical vulnerability model capturing the gradual degradation of secure coding practices due to sustained reliance on LLM-generated code. Unlike prior work that focuses on static vulnerabilities, we conceptualise security risk as a longitudinal behavioural phenomenon rising from human AI interaction. To mitigate this, we propose a gamified, LLM augmented secure coding framework that embeds adversarial evaluation, behavioural feedback, and security scoring into development workflows. Our approach reframes LLMs from passive assistants into active security co-pilots, contributing toward safer PQC implementation in AI mediated environments.

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16.
arXiv (CS.CL) 2026-06-25

Evaluating LLMs on Real-World Software Performance Optimization

Authors:
Ezgi Sar{\i}kayak↗Wenchao Gu↗Hesham Ghonim↗Chunyang Chen↗

Software performance optimization is a notoriously complex and manual task. Despite the growing use of Large Language Models (LLMs) for code refinement, we still lack benchmarks that capture how optimization actually happens in real-world codebases. Existing frameworks often oversimplify the problem by focusing on isolated functions or a single performance metric, missing the critical trade-offs between execution time and memory footprint, the inherent noise of the measurement environment, and the variability introduced by different input data and execution conditions. We address this by introducing SWE-Pro, a repository-level benchmark derived from 102 expert-written optimizations from open-source projects. Unlike previous benchmarks, SWE-Pro pairs each task with parameterized tests to evaluate runtime, peak memory, and Time-Weighted Memory Usage (TWMU) across varying input data and execution conditions under noise-aware measurement conditions. Our evaluation shows that current LLMs struggle significantly: runtime gains are negligible, and memory optimizations are nearly non-existent. This stands in sharp contrast to expert implementations, which achieve an aggregate speedup of 15.5x and peak memory reduction of 171.3x over benchmark tasks. Expert-written improvements are observed in 91.2% of tasks for runtime and 65.7% for peak memory. Our findings expose a substantial gap between current LLM capabilities and the demands of expert-level engineering.

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17.
arXiv (CS.CV) 2026-06-16

HAFMat: Hybrid Priors Guided Adaptive Fusion for Single-Image Human Material Estimation

Authors:
Yu Jiang↗Jiahao Xia↗Jiongming Qin↗Jianchi Sun↗Chunxia Xiao↗

Physically based rendering (PBR) material estimation is a fundamental appearance decomposition task with broad applications in virtual content creation, relighting, and digital human rendering. However, estimating PBR materials from a single human image remains highly ill-posed, since illumination, geometry, and reflectance are heavily entangled in the observed appearance. To mitigate this ambiguity, we propose HAFMat, a hybrid-prior-guided framework for single-image human material estimation. Our method introduces guidance maps that encode complementary cues, including appearance, body geometry, structure, and prior material predictions from pre-trained models. A key observation is that these guidance cues are heterogeneous: some cues mainly provide texture-level constraints, while others convey higher-level semantic information. To exploit this property, we design a Multi-layer Adaptive Feature Fusion Mechanism, which adaptively fuses guidance features with decoder features at different stages. This design enables texture-dominant and semantic-dominant cues to guide material decoding at appropriate levels, leading to more accurate and physically plausible material estimation. Extensive experiments on both synthetic and real data demonstrate that our method achieves state-of-the-art performance in material estimation and downstream relighting.

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18.
arXiv (math.PR) 2026-06-16

Transposition Approach to Optimal Control of McKean-Vlasov SPDEs

Authors:
Liangying Chen↗Wilhelm Stannat↗

arXiv:2603.06245v2 Announce Type: replace Abstract: In this paper, we investigate an optimal control problem for McKean-Vlasov stochastic partial differential equations, in which the coefficients depend on the law of the state process. For systems with nonconvex control sets, we establish a Pontryagin-type stochastic maximum principle that provides necessary optimality conditions for admissible controls. The analysis is based on the classical spike variation method together with the introduction of an adjoint backward stochastic partial differential equation involving Lions derivatives with respect to probability measures. Our results extend the stochastic maximum principle for McKean-Vlasov controlled stochastic differential equations to the infinite-dimensional SPDE setting.

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19.
arXiv (math.PR) 2026-06-15

Universality for Products of Random Matrices with i.i.d. Entries and the Fuss–Catalan Number

Authors:
Yanjin Xiang↗Kun Chen↗Zhihua Zhang↗

arXiv:2606.14450v1 Announce Type: cross Abstract: Let \((w_{ij})_{i,j\ge1}\) be a single infinite array of independent identically distributed real- or complex-valued entries of mean zero, variance \(\sigma^2\), and finite fourth moment. Set \(W_n=(w_{ij})_{1\le i,j\le n}\) and \(X_n=n^{-1/2}W_n\). For every fixed \(k\ge1\), we identify the almost sure limiting operator norm of several fixed products built from this family. Define the \(k\)-th freeness coefficient by \[ \gamma_k:=\sqrt{\frac{(k+1)^{k+1}}{k^k}}. \] Then we prove \[ \|X_n^k\|\to\sigma^k\gamma_k \qquad almost surely. \] The same limit holds for products sampled with replacement from any fixed finite pool of independent copies of \(X_n\); in particular, it holds for the product of \(k\) independent copies. Thus, the freeness coefficient captures the non-commuting characteristic between large random matrices %powers and independent or fixed-pool sampled products under the finite fourth moment assumption. The improvement of the classical Bai–Yin-type power estimate from the scale \(\sigma^k(k{+}1)\) to \(\sigma^k \sqrt{k{+}1}\) is a direct corollary of our result. The main technical challenge is to prove the upper bound using a high-moment expansion of %the upper bound is proved by a high-moment expansion of \(\E\Tr((X_n^kX_n^{*k})^m)\). The leading zero-defect trace words are tree-like and are counted by the Fuss–Catalan number \[ F_{k,m}= \frac1{km+1}\binom{(k+1)m}{m}. \] The combinatorial tool helps to devise a defect-sensitive global enumeration: if \(L=km\) and \[ r=(L+1-v)+(L-q), \] then the number of admissible word classes with defect \(r\) is at most \(F_{k,m}(Cm)^{Dr}\). This polynomial-in-\(m\) loss, with degree proportional to the defect, is summable in the logarithmic moment range.

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20.
arXiv (math.PR) 2026-06-12

Data-driven subsampling rates for diffusion parameter estimation of SDEs

Authors:
Felix Lindner↗Andre Schmei{\ss}er↗Felipe Trolldenier↗Raimund Wegener↗

arXiv:2606.13615v1 Announce Type: new Abstract: We study the problem of diffusion parameter estimation for stochastic differential equation (SDE) models in scenarios where data and model are compatible only on specific scales that have yet to be determined. We introduce a simple and efficient method for selecting suitable rates at which given time series data should be subsampled in order to ensure that the statistical structure of the subsampled data is consistent with the behavior of the SDE model on an infinitesimal scale. Our approach is based on analyzing the statistics of the lengths of monotonically increasing or decreasing segments in the subsampled data sequence, which we refer to as monotone runs. As an analytical foundation, we prove for a large class of SDEs with additive noise that the lengths of monotone runs at an infinitesimal scale are approximately geometrically distributed with success probability $1/2$. This universal characterization is employed to derive an automated method for selecting appropriate subsampling rates for given time series data that is directly applicable in real-world scenarios and does not rely on an asymptotic framework of multiscale diffusions. The approach is demonstrated using an application from industrial mathematics concerning surrogate models for fiber lay-down curves in production processes of nonwoven textiles.

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21.
arXiv (CS.AI) 2026-06-18

Generating Natural and Expressive Robot Gestures through Iterative Reinforcement Learning with Human Feedback using LLMs

Authors:
Chris Lee↗Flora Salim↗Benjamin Tag↗Francisco Cruz↗

arXiv:2606.18747v1 Announce Type: cross Abstract: Expressive gestures are essential for natural and effective communication, complementing speech when verbal cues alone are insufficient (e.g., pointing). For social robots such as the humanoid Pepper, producing natural and expressive movements is critical for improving human-robot interaction (HRI) and long-term acceptance. However, generating gestures remains challenging due to reliance on expert-authored animations, resulting in rigid behaviors that are impractical for dynamic and diverse environments. Alternatively, machine learning approaches often struggle to capture perceived naturalness, becoming increasingly challenging with more degrees of freedom. Consequently, producing expressive robot gestures requires a system that can adapt to the environment while adhering to social norms and physical constraints. Recent advances in large language models (LLMs) enable dynamic code generation, offering new opportunities for runtime gesture synthesis from natural language. In this paper, we integrate ChatGPT into the humanoid robot Pepper to generate co-speech gestures aligned with conversational output. While this baseline enables flexible gesture generation, the resulting motions are often perceived as stiff and unnatural. To address this limitation, we introduce an iterative reinforcement learning with human feedback (RLHF) system that finetunes gesture generation based on user evaluations, leveraging an iterative user study to compare Pepper's generated gestures. Our results show that RLHF improved the LLM's co-speech generative capabilities, producing more expressive, relevant and fluid movements.

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22.
arXiv (quant-ph) 2026-06-25

Rapid and robust laser-frequency auto-locking using Bayesian-optimization and discrete-wavelet-transformation algorithms

Authors:
Min Jiang↗Xiao-Li Chen↗Si-Bin Lu↗Jia-Hao Fu↗Zhan-Wei Yao↗Shao-Kang Li↗Min Ke↗San-Ming Song↗Run-Bing Li↗Jin Wang↗Ming-Sheng Zhan↗

arXiv:2606.25267v1 Announce Type: new Abstract: Rapid and robust laser-frequency auto-locking is essential for the field deployment of quantum communications, quantum computing, and precision-measurement technologies; however, achieving this remains a considerable challenge. Here, we propose and demonstrate an auto-locking scheme employing Bayesian optimization and discrete biorthogonal wavelet transformation. First, the reference is rapidly sought by making intelligent use of historical observations, eliminating the inherent blindness of the traditional parameter-scanning method. Second, the frequency reference is robustly identified by pinpointing transition signals with the discrete biorthogonal wavelet transformation and analyzing their immutable frequency differences and relative magnitudes, which are determined by the inherent atomic structure and remain resistant to environmental disturbances. This proposed approach achieves a fivefold acceleration in reference searching compared to conventional scanning methods in the case where the laser frequency drifts far away from the reference. Crucially, it achieves an identification accuracy of more than 99.5 %, even under severe 50 % laser-intensity fluctuations, $9.95^\circ$ photodiode misalignment, and $18^\circ$C Rb cell temperature elevation. Finally, locking the laser frequency to the identified reference with a lead zirconate titanate-current double-servo loop narrows the linewidth to 20 kHz. We believe that this rapid, robust, and high-performance auto-locking technique will be pivotal towards the deployment of the next generation of practical quantum technologies in demanding field environments.

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23.
arXiv (CS.LG) 2026-06-19

The Representational Limit of Scalar Interactions: An Interventional Decomposition

Authors:
Potito Aghilar↗Sabino Roccotelli↗Stanislao Fidanza↗Vito Walter Anelli↗Sebastiano Stramaglia↗Tommaso Di Noia↗

arXiv:2606.19410v1 Announce Type: cross Abstract: Signed pairwise interaction scores fundamentally conflate uniqueness (U), redundancy (R), and synergy (S). We prove this on a minimal 3-way XOR structural causal model: faithful indices such as Shapley-Taylor return zero per pair, whereas projective indices such as Shapley Interaction spread the third-order effect into pair scalars that conflate the three mechanisms. We introduce Stochastic Hi-Fi, a post-hoc, retraining-free predictability decomposition that estimates per-feature U/R/S profiles by interventional masked inference. The estimator provides exact interventional semantics, finite-sample Monte Carlo bounds, strict variance reduction from coupled diamond sampling, and uniform finite-vocabulary convergence. Across tabular SCMs, Stochastic Hi-Fi recovers structure missed by scalar baselines (up to 411x larger interaction-magnitude recovery ratios). It also separates redundant and synergistic heads in the GPT-2 IOI circuit. On NIH ChestX-ray14, Stochastic Hi-Fi matches GradCAM on Pointing Game and improves substantially on Deletion AUC.

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24.
arXiv (CS.CV) 2026-06-18

Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots

Authors:
Roberto Corlito↗Fabian Schmidt↗Nils Seibert↗Markus Enzweiler↗Abhinav Valada↗Arne Roennau↗

Autonomous navigation of quadrupedal robots in diverse environments fundamentally relies on resilient Simultaneous Localization and Mapping (SLAM). While visual-inertial SLAM has matured across wheeled, handheld, and aerial platforms, a critical evaluation gap remains regarding how hardware-level sensor configurations affect performance under the aggressive dynamics of legged locomotion. Quadrupeds introduce distinct embodiment-induced sensory challenges, including foot-impact shocks, high-frequency mechanical vibrations, and rapid angular rotations, which degrade standard perception pipelines. To address this gap, we present a systematic evaluation of state-of-the-art visual, visual-inertial, and LiDAR-visual-inertial SLAM methods using the GrandTour dataset recorded on an ANYmal D quadruped. We isolate and quantify the impacts of camera modalities, shutter techniques, and inertial sensor tiers, analyzing their trade-offs across localization accuracy, algorithmic robustness, and computational resource utilization. Our empirical findings demonstrate that hardware selection has substantial influence on system resilience: stereo configurations consistently outperform monocular and RGB-D modalities, global shutter cameras significantly mitigate motion-induced tracking failures compared to rolling shutter cameras, and, crucially, standard inertial integration can degrade the performance of primarily vision-based frameworks under harsh legged locomotion. These insights additionally offer concrete design guidelines for tailoring custom sensor payloads to achieve dependable perception on agile legged systems.

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25.
arXiv (CS.LG) 2026-06-18

Unsupervised Diffusion Solver for Combinatorial Optimization via Combinatorial Adjoint Matching

Authors:
Shengyu Feng↗Tarun Suresh↗Yiming Yang↗

arXiv:2605.30920v2 Announce Type: replace Abstract: Diffusion-based neural solvers have shown strong promise for combinatorial optimization (CO), but existing methods typically rely on supervised training with large collections of near-optimal solutions. In this work, we extend adjoint-based trajectory optimization methods to discrete combinatorial domains. We formulate diffusion-based CO as a stochastic control problem over Continuous-Time Markov Chains and introduce discrete adjoint dynamics for propagating optimization signals through discrete generative trajectories. Building on this formulation, we propose Combinatorial Adjoint Matching (CAM), an unsupervised training framework for discrete diffusion solvers with structured and low-variance trajectory-level optimization signals. Empirically, CAM consistently outperforms existing unsupervised diffusion baselines and achieves performance competitive with strong supervised diffusion solvers and even traditional solvers across diverse combinatorial optimization problems. Our code is available at https://github.com/Shengyu-Feng/CAM.

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