News & Research

arXiv:2606.00709v1 Announce Type: new Abstract: Visual-Inertial Odometry (VIO) provides smooth, high-rate state estimates and has been widely used for robotic navigation in both terrestrial and planetary applications. However, its performance is typically dependent on the frequency of visual updates, which is a challenge for planetary rovers operating under extreme resource constraints and low frame rates. This work investigates enabling reliable VIO with very sparse visual updates for lunar rover applications, addressing both day and night-time operations where feature associations become especially difficult under self-illumination conditions. We propose a Bird's Eye View (BEV)-based image matching scheme that remains robust to larger inter-frame motions and more reliable feature matching despite significant visual appearance changes. We extensively evaluate our proposed approach, BEVIO, through high-fidelity photorealistic lunar and real-time robotic experiments conducted using a ha

arXiv:2606.01845v1 Announce Type: cross Abstract: Although large language models (LLMs) have shown considerable progress in pragmatic language understanding, prior research has focused mainly on their comprehension of verbal behavior. Nonetheless, non-verbal behavior remains a fundamental component of human communication, especially when deliberately utilized in isolation to convey indirect meanings. In this work, we present the first systematic evaluation of LLMs' ability to infer pragmatic meaning in dialogue consisting solely of non-verbal responses. We explore three research questions: (1) Can LLMs recognize indirect intent conveyed through non-verbal responses? (2) When and how do LLMs fail to capture non-verbal intent? (3) How can we improve LLMs' ability to interpret non-verbal intent?. Through the evaluation, we observe that LLMs struggle to infer underlying meaning from non-verbal responses, with accuracy dropping by up to 60% points compared to verbal ones. Further extensive

arXiv:2606.00220v1 Announce Type: cross Abstract: Formal methods provide rigorous accounts of program behavior, but practical software engineering often works through executable libraries, tests, and incremental design. This paper presents SEMBridge, a small tagless-final framework for generating weakest-precondition and bounded-checking interpretations from the same executable object programs. Instead of committing a program semantics to one abstract syntax tree and then writing separate traversals, object programs are written once against a semantic interface and interpreted into multiple meanings: readable code, concrete execution, predicate transformers, bounded counterexample search, and future proof-assistant or SMT back ends. The Python prototype implements a loop-free imperative core with assignments, conditionals, assumptions, and assertions. Across five example programs, the same tagless-final definitions generated executable state transformers and verification conditions tha

arXiv:2606.00819v1 Announce Type: new Abstract: Large Language Models (LLMs) have achieved strong performance across diverse natural language tasks, yet their outputs often suffer from hallucinations -- content that is misaligned with factual information. In this work, we conduct a comprehensive layer-wise analysis of the decoding process and reveal that hallucinations tend to originate from deeper decoder layers. To address this issue, we introduce \textbf{DeLask} (\textbf{De}coder \textbf{La}yer \textbf{Sk}ipping), a novel decoding framework that dynamically skips layers prone to producing hallucinations. DeLask leverages the theoretical insight that the forward computation of an $L$-layer Transformer is conditionally equivalent to $L$ steps of gradient descent. We define a \emph{driftance value} by computing the cosine similarity between gradients derived from consecutive decoder steps, identifying problematic layers when the descent direction reverses. Rather than discarding such l

arXiv:2606.01839v1 Announce Type: cross Abstract: LLM-based agents resolve a user task through many turns of dependent inference and tool calls, producing a workload whose total cost is unknown when the task arrives. Existing multi-turn systems keep the turn as the scheduling unit and decide, turn by turn, whether to disaggregate prefill from decode. That decision rests on the turn's decode length, tool behavior, and KV growth, quantities that are not observable when the scheduler must act, forcing the system to predict them. We show this dependence on prediction is imposed by the scheduling unit, not the workload. Raising the scheduling unit from the turn to the conversation converts turn-level irregularity into a stable, two-phase structure: 1) a compute-bound turn-1 prefill followed by 2) a long, memory-bound tail. Thus, with the conversation as the scheduling unit, placement reduces to reading the first-turn input length and per-decoder KV occupancy, both directly observable. We in

arXiv:2606.01800v1 Announce Type: cross Abstract: Large language models (LLMs) have excelled in processing multiple languages through pre- and post-training on multilingual data, even though English dominates the training data. Prior work focusing on token representations has revealed how those LLMs process non-English text. Although these analyses have provided insightful findings, they fail to capture a structural view, which is an inherent property of language. In this study, we explore the multilinguality of LLMs through representational structural analysis. Our findings reveal that low-resource languages are structurally more different from English than high- and mid-resource languages, and that language-specific post-training alters their structures while preserving inter-language relationships.

arXiv:2606.02198v1 Announce Type: new Abstract: Prediction tasks over individual futures, which are inherently noisy, often admit multiple similarly accurate models. When these models produce different predictions for the same individual, they raise concerns of arbitrariness in decision-making. How severe can this arbitrariness be, in theory and in practice? How can it be resolved to support high-stakes risk assessment? We address these questions through a study of a machine learning-based decision support system for recidivism risk assessment that has been in use for over 15 years. By translating complex legal rules into an algorithm for labeling post release outcomes (recidivist or non-recidivist), we first construct a dataset of thousands of inmate releases. Using this dataset, we learn interpretable models that improve predictive performance, reduce error-rate disparities between groups, and ensure that rehabilitative progress lowers risk scores. Next, we study predictive multiplic

arXiv:2606.00014v1 Announce Type: cross Abstract: Although studies have demonstrated that Large Language Models (LLMs) can perform well on Out-of-Distribution (OOD) tasks, their advantage tends to diminish as the distribution shift becomes more severe. Consequently, researchers aim to retrieve distributionally similar and informative demonstrations from the available source domain to boost the inference capabilities of LLMs. However, in practical scenarios where the target domain is inaccessible, evaluating the unknown distribution is challenging, which indirectly impacts the quality of the selected demonstrations. To address this problem, we propose \textbf{DOPA}, a demonstration search framework that incorporates an OOD proxy to approximate the inaccessible target domain and guide the retrieval process. Building on proxy-based evaluation, DOPA further introduces a Mahalanobis distance-based global diversity constraint to ensure sufficient diversity among the retrieved demonstrations.

arXiv:2606.00092v1 Announce Type: cross Abstract: Weakly-supervised classification of whole-slide images with attention-based multiple instance learning (ABMIL) on top of foundation features now reaches near-saturation on Camelyon16 slide-level performance, but the corresponding attention maps are an imperfect localization signal: in clinical interpretation, a model that classifies correctly without firing on the actual lesion is hard to trust. We address this gap with cellular sheaves, which equip each vertex and edge of a graph with a finite-dimensional vector space and consistent linear maps between them, providing a principled way to detect local disagreement on graph-structured data. We apply cellular sheaves to weakly-supervised tumour localization on whole-slide images, combining a sheaf disagreement field with ABMIL. The natural training objective, encouraging consistency between similar features, produces a disagreement field that tracks tissue-level texture rather than diagno

arXiv:2606.01865v1 Announce Type: new Abstract: Diffusion policies have recently emerged as a powerful framework for robotic manipulation. However, like other behavior cloning methods, they remain vulnerable to distributional shift, often requiring human-in-the-loop interventions to correct failures during deployment. These interactions naturally provide paired supervision in the form of the robot's undesired actions and the human teacher's corrective actions. Yet existing data aggregation pipelines and standard behavior cloning losses largely ignore this negative signal from undesired actions, leading to overfitting to teacher's actions and an increasing reliance on costly expert data. To address this limitation, we propose Set-Supervised Diffusion Policy (SDP), a novel learning framework that utilizes contrastive action-chunk data to train diffusion policies from human corrections. From paired positive and negative action-chunks, SDP constructs a set of desired action-chunks and desi

arXiv:2606.00120v1 Announce Type: cross Abstract: This paper proposes SpikeWFM, a novel hybrid architecture that integrates spiking neural networks (SNNs) with conventional artificial neural network (ANN)-based transformers for wireless foundation models (WFMs). Inspired by the noise-robust and energy-efficient information processing in the human brain, SpikeWFM aims to enhance the resilience of WFMs against noise and interference while maintaining strong generalization capabilities across diverse wireless scenarios. Drawing from the success of large language models, WFMs leverage self-supervised pre-training on large-scale datasets spanning various wireless environments to learn a unified embedding that supports a wide range of downstream tasks, including channel prediction, channel estimation, beam predition, positioning and etc. Such models typically outperform task-specific designs and exhibit superior adaptability to unseen conditions. However, existing WFMs remain vulnerable to r

arXiv:2606.02331v1 Announce Type: new Abstract: Diffusion-based inverse problem solvers can produce realistic reconstructions, but realism alone does not ensure that the recovered details are supported by the measurement. We study this failure as measurement-conditioned hallucination: visually meaningful content that is either implausible or inconsistent with the measured instance. Our analysis separates Bayes-rule-based diffusion inverse solvers into a prior update and a measurement-conditioning step, showing that hallucinated content can enter through the prior-side proposal before the measurement correction is applied. Motivated by this view, we propose Robust Prior Update (RPU), a solver-level module that probes the local stability of the diffusion prior update, re-anchors the resulting displacement at the current iterate, and leaves the measurement update unchanged. We instantiate RPU in DPS and evaluate it on FFHQ and ImageNet inverse problems using automatic metrics and human fa

arXiv:2505.24069v4 Announce Type: replace-cross Abstract: Large language models (LLMs) are deployed on increasingly complex tasks that require multi-step decision-making. Understanding their algorithmic reasoning abilities is therefore crucial. However, we lack a diagnostic benchmark for evaluating these capabilities. We propose to use data structures as a principled lens: as fundamental building blocks of algorithms, they naturally probe structural reasoning - the ability to understand and manipulate relationships such as order, hierarchy, and connectivity that underpin algorithmic reasoning. We introduce DSR-Bench (Data Structure Reasoning Benchmark), spanning 20 data structures, 35 operations, and 4,140 problem instances. DSR-Bench features hierarchical task organization, fully automated generation and evaluation, and fine-grained diagnostics. Evaluating 13 state-of-the-art LLMs reveals critical limitations: the top-performing model achieves only 0.46/1 on challenging instances. Thr

arXiv:2606.02240v1 Announce Type: cross Abstract: Indirect prompt injection in tool-use agents is a concrete production threat: LLM agents read from integrations (third-party services such as Gmail, Salesforce, or Jira accessed through tool calls) whose response content the user neither writes nor controls. Existing benchmarks under-measure the threat: most cover only a handful of integrations with the same attack payload replayed across runs, and open-source guards are trained on chat-style data rather than tool-response content. We introduce AGENTREDBENCH, a dynamic LLM-driven redteaming benchmark of 215 subtle underspecified authorization (attacks at the boundary of what the user's request authorises) scenarios across 24 enterprise integrations in nine functional families and five attack types. Across an eight-model panel (Anthropic, OpenAI, Google), no-guard ASR (attack success rate) ranges from 32% (Claude Sonnet 4.6) to 81% (Gemini 3 Flash). To keep the scenario set out of traini

arXiv:2606.02355v1 Announce Type: new Abstract: Long-horizon LLM agents can benefit from reusable skills, yet existing skill-based methods often rely on external skill generators during training or persistent skill retrieval at inference, increasing engineering complexity, context length, and deployment latency. We propose Self-Internalizing Reinforcement learning with Intrinsic skills (SIRI), a three-phase framework that enables agents to discover, validate, and internalize skills without external skill generators or inference-time skill banks. SIRI first warms up the policy with GiGPO to acquire basic interaction ability and collect successful skill-free trajectories. It then performs self-skill mining, where the current policy summarizes compact skills from its own successful plain rollouts and validates them through paired skill-augmented and skill-free rollouts. Finally, SIRI distills only beneficial skill-guided action tokens into the plain policy using trajectory-level utility a