arXiv preprints from January 1, 2026 through September 22, 2026 — 11:16:49 EST
This paper investigates how a production transitional autonomous vehicle (tAV) develops and executes mandatory lane-change decisions. Using 150 controlled mandatory lane changes from the NC-tALC experiments, the study examines whether the eventual target gap is observable before lateral movement begins and how the tAV progresses...
3D Gaussian Splatting (3DGS) achieves high-quality, real-time novel view synthesis, but the resulting assets have baked-in illumination and cannot be easily relit. Inverse rendering methods optimize simplified reflectance and illumination models for each scene, limiting efficiency and relighting quality. Recent generative approaches...
This paper proposes a physics-based adaptive Koopman Model Predictive Control (MPC) strategy for combined spacecraft attitude stabilization under inertia uncertainties and active target maneuverability. A novel, quaternion-based Koopman model is constructed from a set of analytical lifting functions derived from the quaternion...
Magnetic induction communication (MIC) is a promising technology for through-the-earth (TTE) communication. Previous studies on the MIC range have often overlooked the impact of eddy losses caused by underground materials. For TTE MIC, significant eddy losses complicate the analysis of the effective MIC range, which is vital for...
Most public sound-event corpora are optimized either for general audio tagging or for clean speech separation, and comparatively few provide strong timestamped noise annotations layered directly on top of spontaneous, real-world speech. We present the VAANI Noise Event Timestamp Dataset, a derived annotation layer built on Project...
Monitoring a DC line with many distributed power converters is a genuinely spatio-temporal problem: the information about a localized fault travels along the whole conductor and reaches a few measurement points mixed with the dynamics of the line itself. This paper develops a two-dimensional geometric Laplace transform (t,x) ->...
Air conditioner (AC) loads offer promising flexibility for active distribution networks to manage uncertainties, such as those in renewable energy generation, electricity prices, and load demand. However, real-time scheduling of ACs is challenging due to their massive temporal coupling constraints and time-causal uncertainties. To...
Heating, ventilation, and air conditioning (HVAC) loads, with their rapid response capabilities, can provide considerable intra-hour flexibility on the demand side for reserve provision in order to follow the fast variations of renewables. However, scheduling massive HVACs is challenging due to computation complexity and the...
This paper shows that the optimal gain of the risk-sensitive linear quadratic regulator (LQR) problem is invariant under input randomization, i.e., when the controller deliberately injects noise into the nominal control input. This appears counterintuitive at first glance because certainty equivalence does not hold for risk-sensitive...
Humanoid robots responding to emergency stop commands typically execute a fixed maneuver, without reasoning about whether a safe stop is actually feasible from the current state. We cast emergency stopping as a reach-avoid problem and propose Safe-Stop, a task-agnostic framework that pairs a learned stop policy with learned...
Recent advances in audio-language modeling have been driven by large-scale audio captioning datasets. However, existing datasets remain limited by low semantic diversity, generic descriptions lacking acoustic details, and one-to-one audio-caption mappings that poorly reflect the inherent ambiguity of auditory perception. We introduce...
In this lecture note, we present a concise and self-contained derivation of the discrete-time Kalman filter equations that requires only a basic understanding of least squares estimation. The treatment is designed to minimize mathematical overhead while preserving both rigor and generality.
The increasing density of connected vehicles can place substantial pressure on fixed roadside infrastructure, particularly when the available communication resources become insufficient to accommodate temporary traffic surges. This paper investigates auxiliary unmanned aerial vehicle (UAV) assistance as a flexible mechanism for...
Learning graph structures from data is a fundamental problem that spans a wide range of signal processing and machine learning tasks. While significant effort has been made to tackle the problem, existing research has largely evolved along two parallel directions. The first seeks to infer the topology of an individual graph from...
Recent advances in equation discovery methods such as SINDy have highlighted the growing interest in identifying governing parameters and models directly from data. In this work, we take a complementary approach grounded in analysis and numerical PDE methods: we recover an unknown viscosity in steady Navier-Stokes equations (NSE) from...
We develop a localized persistent theory of commutative algebra for Stanley-Reisner rings, based on local cohomology supported at a coordinate prime rather than at the maximal ideal. The construction is modeled on the persistent Stanley-Reisner theory of Suwayyid and Wei (arXiv:2503.23482) and its functorial development for graphs and...
We study how far gradient descent (GD) can be accelerated by predetermined stepsizes in smooth convex optimization. Going beyond the classical $Ω(n^{-2})$ first-order oracle lower bound of Nemirovsky and Yudin, we prove an $Ω(n^{-1.6342})$ non-anytime lower bound and an $Ω(n^{-1.2408})$ anytime lower bound. These improve the recent...
Temporal graphs model dynamic networks by assigning positive integer time labels to the edges, while information propagates along temporal paths, whose edge labels are traversed in nondecreasing order. A temporal $α$-spanner of a temporal graph with $n$ vertices is a temporal subgraph that approximates the minimum-hop temporal...
We construct realizable-volume models over any field for the factorially normalized homogeneous Lascoux, Lascoux-atom, and positive Grothendieck packets. Their volume minors include normalized key polynomials, Demazure atoms, Schubert polynomials, and all sign-corrected homogeneous Grothendieck components. Over $\mathbb C$, these...
This article equips the universal moduli spaces of non-degenerate $\mathbb{Z}/2\mathbb{Z}$ harmonic spinors with the structure of a tame Fréchet manifold and proves that the projection map to the parameter space is uniformly Fredholm. This recovers earlier work of Donaldson, Parker, and Takahashi in a unified framework.
A $B$-coloring of a graph is a proper edge-coloring in which every $4$-cycle is rainbow, and $q_B(G)$ denotes the minimum number of colors in such a coloring. Let $Δ_2(G)$ denote the maximum number of common neighbors of two distinct vertices of $G$. We prove that, for integers $1\le d\leΔ$, every finite simple $d$-degenerate graph...
The exact N-soliton solutions are derived for the coupled negative first order Klein-Gordon (CNKG) equation subject to vanishing boundary conditions by using the inverse scattering method via Gelfand-Levitan-Marchenko equation. Based on the zero-curvature representation, the conservation laws, integrals of motion, and Hamiltonian...
The first paper worked out one family of four lattices in full -- $|\det| = 12, 24, 36$ and $72$. This paper generalizes it. We enumerate the 44 symmetrizable rank-three hyperbolic Cartan matrices and their 56 depth-one edits, 100 root bases in all, and compute the obstruction space $S_{5/2}(ρ_L)$ of the 98 within our weight-$5/2$...
We prove the global existence and uniqueness of strong solutions to a constrained version of the damped nonlinear wave equation $$ \vartheta_{tt}+γ\vartheta_t-Δ\vartheta+|\vartheta|^{p-2}\vartheta=0 $$ on a smooth bounded domain $\varOmega\subset\mathbb{R}^d$, where the evolution is projected onto the tangent space of the Hilbert...
This survey paper provides a comprehensive study of unitarily invariant norms on the algebra of $n \times n$ matrices. This investigation leads naturally to the theory of symmetric gauge functions, a class of norms on $\mathbb{R}^n$ characterized by invariance and monotonicity properties. We develop the necessary framework by...