arXiv preprints from January 1, 2026 through September 24, 2026 — 21:12:31 EST
This paper introduces a novel modular architecture for ROS2 that decouples the logic required to acquire, validate, and interpolate references from the control laws that track them. The design includes a dedicated component, named Reference Generator, that receives references, in the form of either single points or trajectories, from...
The distinction between conditional, unconditional, and absolute convergence in infinite-dimensional spaces has fundamental implications for computational algorithms. While these concepts coincide in finite dimensions, the Dvoretzky-Rogers theorem establishes their strict separation in general Banach spaces. We present a comprehensive...
Recent LLMs increasingly integrate reasoning mechanisms like Chain-of-Thought (CoT). However, this explicit reasoning exposes a new attack surface for inference-time backdoors, which inject malicious reasoning paths without altering model parameters. Because these attacks generate linguistically coherent paths, they effectively evade...
Movie screenplays are rich long-form narratives that interleave complex character relationships, temporally ordered events, and dialogue-driven interactions. While prior benchmarks target individual subtasks such as question answering or dialogue generation, they rarely evaluate whether models can construct a coherent story world and...
We introduce Spectral Generative Flow Models (SGFMs), a physics-inspired alternative to transformer-based large language models. Instead of representing text or video as sequences of discrete tokens processed by attention, SGFMs treat generation as the evolution of a continuous field governed by constrained stochastic dynamics in a...
Time series forecasting is critical to real-world decision making, yet most existing approaches remain unimodal and rely on extrapolating historical patterns. While recent progress in large language models (LLMs) highlights the potential for multimodal forecasting, existing benchmarks largely provide retrospective or misaligned raw...
We introduce Temporal Fusion Nexus (TFN), a multi-modal and task-agnostic embedding model to integrate irregular time series and unstructured clinical narratives. We analysed TFN in post-kidney transplant (KTx) care, with a retrospective cohort of 3382 patients, on three key outcomes: graft loss, graft rejection, and mortality....
Despite the recent advancements in NLP with the advent of Large Language Models (LLMs), Entity Linking (EL) for historical texts remains challenging due to linguistic variation, noisy inputs, and evolving semantic conventions. Existing solutions either require substantial training data or rely on domain-specific rules that limit...
Large models such as Vision Transformers (ViTs) have demonstrated remarkable superiority over smaller architectures like ResNet in few-shot classification, owing to their powerful representational capacity. However, fine-tuning such large models demands extensive GPU memory and prolonged training time, making them impractical for many...
Session-based recommendation systems must capture implicit user intents from sessions. However, existing models suffer from issues such as item interaction dominance and noisy sessions. We propose a multi-channel recommendation model, including a knowledge graph channel, a session hypergraph channel, and a session line graph channel,...
Few-shot class-incremental learning (FSCIL) aims to continually adapt a model on a limited number of new-class examples, facing two well-known challenges: catastrophic forgetting and overfitting to new classes. Existing methods tend to freeze more parts of network components and finetune others with an extra memory during incremental...
We consider linear single-path loops of the form \[ \textbf{while} \quad \varphi \quad \textbf{do} \quad \vec{x} \gets A \vec{x} + \vec{b} \quad \textbf{end} \] where $\vec{x}$ is a vector of variables, the loop guard $\varphi$ is a conjunction of linear inequations over the variables $\vec{x}$, and the update of the loop is...
The rise of online counseling services has highlighted the need for effective training methods for future counselors. This paper extends research on VirCo, a Virtual Client for Online Counseling, designed to complement traditional role-playing methods in academic training by simulating realistic client interactions. Building on...
Internet of underwater things (IoUT) is increasingly gathering attention with the aim of monitoring sea life and deep ocean environment, underwater surveillance as well as maintenance of underwater installments. However, conventional IoUT devices, reliant on battery power, face limitations in lifespan and pose environmental hazards...
We investigate a failure mode of large language models (LLMs) in which plain-text prompts elicit excessive outputs, a phenomenon we term Overflow. Unlike jailbreaks or prompt injection, Overflow arises under ordinary interaction settings and can lead to elevated serving cost, latency, and cross-user performance degradation,...
Environmental, social, and governance (ESG) criteria are essential for evaluating corporate sustainability and ethical performance. However, professional ESG analysis is hindered by data fragmentation across unstructured sources, and existing large language models (LLMs) often struggle with the complex, multi-step workflows required...
Deepfakes are synthetic media generated by artificial intelligence, with positive applications in education and creativity, but also serious negative impacts such as fraud, misinformation, and privacy violations. Although detection techniques have advanced, comprehensive evaluation methods that go beyond classification performance...
Recent reports of large language models (LLMs) exhibiting behaviors such as deception, threats, or blackmail are often interpreted as evidence of alignment failure or emergent malign agency. We argue that this interpretation rests on a conceptual error. LLMs do not reason morally; they statistically internalize the record of human...
Retrieval Augmented Generation faces a trade-off: concatenating documents in a long prompt enables multi-document reasoning but creates prefill bottlenecks, while encoding document KV caches separately offers speed but breaks cross-document interaction. We propose Parallel Context-of-Experts Decoding (Pced), a training-free framework...
While large language models (LLMs) have increasingly been applied to hate speech detoxification, the prompts often trigger safety alerts, causing LLMs to refuse the task. In this study, we systematically investigate false refusal behavior in hate speech detoxification and analyze the contextual and linguistic biases that trigger such...
VLA models have shown promising potential in embodied navigation by unifying perception and planning while inheriting the strong generalization abilities of large VLMs. However, most existing VLA models rely on reactive mappings directly from observations to actions, lacking the explicit reasoning capabilities and persistent memory...
The configuration of physical parameterization schemes in Numerical Weather Prediction (NWP) models plays a critical role in determining the accuracy of the forecast. However, existing parameter calibration methods typically treat each calibration task as an isolated optimization problem. This approach suffers from prohibitive...
This tutorial is designed to make reinforcement learning (RL) more accessible to undergraduate students by offering clear, example-driven explanations. It focuses on bridging the gap between RL theory and practical coding applications, addressing common challenges that students face when transitioning from conceptual understanding to...
Detecting anomalies in high-dimensional, time-dependent simulation data is challenging due to complex spatial and temporal dynamics. We study reconstruction-based anomaly detection for ensemble data from parameterized Kármán vortex street simulations using convolutional autoencoders. We compare a 2D autoencoder operating on individual...
Evolving neural network architectures is a computationally demanding process. Traditional methods often require an extensive search through large architectural spaces and offer limited understanding of how structural modifications influence model behavior. This paper introduces \gls{ngspt}, a novel Neuroevolution algorithm based on...