新闻与研究

arXiv:2605.23386v1 Announce Type: new Abstract: Agricultural UAV research requires simulators that integrate realistic 3D scenes, high-fidelity vehicle dynamics, and robotics middleware, while remaining practical to deploy across heterogeneous development machines. We present Droneulator, a portable UAV simulator architecture that combines RotorPy for multirotor dynamics with Godot 4 for rendering and sensor generation. Droneulator exposes both PX4-based control and a lightweight WebSocket command path, and publishes synchronised visual and state streams through a Zenoh-based ROS~2-compatible pipeline. This integration enables a single stack to support inspection-oriented data capture, ROS~2/PX4 local planning, and reinforcement learning experiments without modifying the simulator infrastructure. We present quantified validation of the current system across three agricultural UAV workflows: tree-scale image collection for 3D reconstruction with COLMAP, local planning around canopy obst

arXiv:2410.19842v2 Announce Type: replace-cross Abstract: Contrastive learning yields impressive results for self-supervision in computer vision. The approach relies on the creation of positive pairs, something which is often achieved through augmentations. However, for multivariate time series effective augmentations can be difficult to design. Additionally, the number of input channels for biosignal datasets often varies from application to application, limiting the usefulness of large self-supervised models trained with specific channel configurations. Motivated by these challenges, we set out to investigate strategies for creation of positive pairs for channel-agnostic self-supervision of biosignals. We introduce contrastive random lead coding (CRLC), where random subsets of the input channels are used to create positive pairs and compare with using augmentations and neighboring segments in time as positive pairs. We validate our approach by pre-training models on EEG and ECG data,

arXiv:2601.21500v2 Announce Type: replace Abstract: In many applications of LLMs, natural language responses often have an underlying structure such as representing discrete labels, numerical values, or graphs. Yet, existing decoding and uncertainty estimation methods operate only in language space and largely disregard structural information. We address this by modeling LLM outputs directly in a task-dependent latent structure. By equipping this structure with a dissimilarity measure, we can compute Bayes-optimal responses. These are not selected from sampled generations but are newly synthesized by combining individual responses in the latent space. Across different tasks, Bayes-optimal responses consistently outperform standard decoding methods like beam search. Moreover, quantifying uncertainty via the induced Bayesian risk captures variations in terms of the latent structure and improves alignment with output quality and correctness. Our decision-theoretic framework is applicable

arXiv:2605.23130v1 Announce Type: new Abstract: AI coding assistants are now central to professional software development, yet their impact on how developers think about and practice security remains poorly understood. While prior work has documented vulnerability rates in AI-generated code, a more fundamental question persists: how do these tools transform security awareness in authentic, ongoing development practice? We conducted semi-structured interviews with 15 professional software engineers and observed them completing security-relevant coding tasks with AI assistance, spanning 3 experience cohorts defined by their relationship to AI tools during professional formation. We find that AI coding assistants reorganize rather than eliminate security thinking, shifting it from the act of writing code to the act of reviewing it. This transition from preventive to reactive security is structurally encouraged by interaction models that frame code generation as a functional task, leaving

arXiv:2511.15503v2 Announce Type: replace-cross Abstract: High-performance Host processors can integrate Processing-In-Memory (PIM) devices, which can accelerate memory-intensive kernels of Machine Learning (ML) models, including Large Language Models (LLMs), by leveraging the large memory bandwidth available at PIM cores. However, Host processor needs consecutive elements distributed across DRAM banks, while PIM cores need consecutive elements within their local banks. This necessitates data rearrangements in ML kernel execution that pose significant performance and programmability challenges, further exacerbated by the need to support diverse PIM devices. Current compilation approaches lack systematic optimization for diverse ML kernels and multiple PIM devices, and may largely ignore data rearrangement costs during the compute code optimization step. We show that data rearrangements and compute code optimization are interdependent, and need to be jointly optimized during the tuning

arXiv:2605.22962v1 Announce Type: new Abstract: Video recordings of child-caregiver interactions enable investigation of attentional dynamics during naturalistic behavior. Such multimodal recording also allows researchers to examine how attention interacts with action and language use in real time. However, manual annotation of such data is time-consuming. Here, we introduce GazeBehavior Annotation Toolkit, a deep-learning-based toolkit designed to facilitate three key processes in data preprocessing and feature extraction: post-hoc synchronization across multiple videos, semi-automatic annotation of gaze target categories, and categorization of participants' poses and hand actions. This toolkit improves the efficiency and scalability of feature extraction from human egocentric eye-tracking and video data. Such improvement is critical in supporting large-scale and longitudinal investigations of attentional dynamics and naturalistic behavior in human early development.

arXiv:2512.19199v2 Announce Type: replace-cross Abstract: The paper establishes generalization bounds for multitask deep neural networks using operator-theoretic techniques. The authors propose a tighter bound than those derived from conventional norm based methods by leveraging small condition numbers in the weight matrices and introducing a tailored Sobolev space as an expanded hypothesis space. This enhanced bound remains valid even in single output settings, outperforming existing Koopman based bounds. The resulting framework maintains key advantages such as flexibility and independence from network width, offering a more precise theoretical understanding of multitask deep learning in the context of kernel methods.

arXiv:2605.23890v1 Announce Type: cross Abstract: Argumentative dialogues across political divides can reduce polarization, yet opportunities for citizens to engage with opposing views in accessible and structured ways remain limited. AI dialogue partners offer a scalable framework for such open-mindedness exercises, but how the format of human-AI dialogues shapes their benefits remains unclear. In a two-session online experiment, 469 US participants were assigned to argue either for or against their own attitude on a contested political issue with an AI chatbot. Our experimental findings show attitude-congruent dialogues produced greater immediate reduction in both affective and opinion polarization than attitude-incongruent dialogues. By contrast, attitude-incongruent dialogues elicited weaker cognitive state empathy than the non-AI reference task but increased cognitive trait empathy in the two-week period between sessions, suggesting the effects of active generation of attitude-inc

arXiv:2604.19000v2 Announce Type: replace-cross Abstract: Statement autoformalization acts as a critical bridge between human mathematics and formal mathematics by translating natural language problems into formal language. While prior works have focused on data synthesis and diverse training paradigms to optimize end-to-end Large Language Models (LLMs), they typically treat formal code as flat sequences, neglecting the hierarchical logic inherent in mathematical statements. In this work, we introduce Decompose, Structure, and Repair (DSR), a neuro-symbolic framework that restructures autoformalization into a modular pipeline. DSR decomposes statements into logical components and maps them to structured operator trees, leveraging this topological blueprint to precisely localize and repair errors via sub-tree refinement. Furthermore, we introduce PRIME, a benchmark of 156 undergraduate and graduate-level theorems selected from canonical textbooks and expertly annotated in Lean 4. Experi

arXiv:2605.23645v1 Announce Type: cross Abstract: In the context of artificial neural networks, subliminal learning refers to the transfer of task-relevant knowledge or unintended biases from teacher to student models through distillation on task-unrelated input$\unicode{x2013}$output pairs. Prior explanations tie this effect to shared or closely matched teacher$\unicode{x2013}$student initialization. We show that a closely matched initialization is not necessary. Instead, subliminal learning is governed by compatible output heads. Using a controlled MNIST setting, we split outputs into an auxiliary head (for auxiliary, task-unrelated noise signals) and a class head (for classification) to demonstrate subliminal learning occurs$\unicode{x2014}$even when we randomly initialize hidden layers and remove layers, add new layers, or change the architecture (MLP-to-CNN). Compatible auxiliary heads enable transfer of a recoverable teacher signal, bringing the student's representations closer t

arXiv:2605.22827v1 Announce Type: cross Abstract: In large-scale AI systems, allocating scarce resources such as GPU compute time and bandwidth among multiple agents is a critical challenge. Conventional policies focus on efficiency metrics, potentially leading to dominance concentration that undermines system diversity and stability. We propose Computable Fair Division (CFD), a framework that reinterprets the Boltzmann-Softmax function not as a selection tool but as a probabilistic resource allocation mechanism, redefining the inverse temperature parameter $\beta$ as a computable control variable governing the efficiency-fairness balance. Static analysis reveals a Pareto frontier with a near-optimal Stability Corridor where total loss remains approximately constant across policy weights. In the dynamic setting, AHC++ (Adaptive Hard-Cap Controller++) updates $\beta$ in real time using the error between observed dominance and a policy-specified target as feedback. Simulations show that

arXiv:2602.13241v2 Announce Type: replace-cross Abstract: Emergency call-takers form the first operational link in public safety response, handling over 240 million calls annually while facing a sustained training crisis: staffing shortages exceed 25\% in many centers, and preparing a single new hire can require up to 720 hours of one-on-one instruction that removes experienced personnel from active duty. Traditional training approaches struggle to scale under these constraints, limiting both coverage and feedback timeliness. In partnership with Metro Nashville Department of Emergency Communications (MNDEC), we designed, developed, and deployed a GenAI-powered call-taking training system under real-world constraints. Over six months, deployment scaled from initial pilot to 190 operational users across 1,120 training sessions, exposing systematic challenges around system delivery, rigor, resilience, and human factors that remain largely invisible in controlled or purely simulated evalua

arXiv:2605.23719v1 Announce Type: new Abstract: Vision Transformers have achieved remarkable success in computer vision, but their common use of learnable one-dimensional positional encodings weakens the inherent two-dimensional spatial structure of images after patch flattening. Existing positional encodings often lack geometric constraints and do not preserve a monotonic relationship between Euclidean spatial distances and sequential index distances, limiting ViTs' ability to exploit spatial proximity priors. Motivated by the usefulness of periodicity in positional encoding, we propose Weierstrass elliptic Positional Encoding (WePE), a mathematically grounded method for encoding two-dimensional coordinates in the complex domain. WePE maps normalized 2D patch coordinates onto the complex plane and constructs compact four-dimensional positional features using the Weierstrass elliptic function and its derivative. The double periodicity provides a principled representation of 2D position

arXiv:2406.02883v2 Announce Type: replace Abstract: Automated scraping stands out as a common method for collecting data in deep learning models without the authorization of data owners. Recent studies have begun to tackle the privacy concerns associated with this data collection method. Notable approaches include Deepconfuse, error-minimizing, error-maximizing (also known as adversarial poisoning), Neural Tangent Generalization Attack, synthetic, autoregressive, One-Pixel Shortcut, Self-Ensemble Protection, Entangled Features, Robust Error-Minimizing, Hypocritical, and TensorClog. The data generated by those approaches, called "unlearnable" examples, are prevented "learning" by deep learning models. In this research, we investigate and devise an effective nonlinear transformation framework and conduct extensive experiments to demonstrate that a deep neural network can effectively learn from the data/examples traditionally considered unlearnable produced by the above twelve approaches.

arXiv:2504.09846v2 Announce Type: replace-cross Abstract: Frequent and long-term exposure to hyperglycemia increases the risk of chronic complications, including neuropathy, nephropathy, and cardiovascular disease. Existing continuous subcutaneous insulin infusion (CSII) and continuous glucose monitoring (CGM) technologies model only specific aspects of glycemic regulation, such as predicting hypoglycemia and administering small insulin boluses. Similarly, current digital twin approaches in diabetes management primarily focus on predicting glucose responses to human behavior and insulin therapy. As a result, these technologies lack the ability to provide alternative treatment scenarios that could guide proactive behavioral interventions for optimal diabetes management. To address this gap, we propose GlyTwin, a novel computational framework that enhances digital twin technologies by integrating counterfactual explanations to simulate optimal behavioral treatments for glucose control. G