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Search indexed arXiv papers on artificial intelligence, large language models, computer vision and robotics. Read source abstracts and follow links to arXiv.

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At least 1,549 records · Page 86Linked to original sources

Ask About the Right Moment: Training-Free Object Identity Reasoning for Video-Language Models

Many questions about a video concern one physical object. Where does the ball end up after the cups are shuffled? Which card is the queen? How often was the mug covered? Video-language models (Video-LMs) recognise such objects in single frames but do not keep them apart over time. On real shell-game videos, open models from 8B to 235B parameters, their thinking variants, a reinforcement-learned tool agent and three training-free tool agents all stay within ten points of chance. We separate semantic identity binding from temporal identity maintenance. An object's identity should be fixed at a moment when the evidence for it is visible, and carried afterwards by a tracker. \emph{Track, Then Bind} implements this principle without training. A promptable video tracker follows every candidate object and draws it with a track number. A frozen vision-language model answers a static question about the identifying evidence, which binds the target to a track. The answer is then derived from the tracked state in text, without asking the model to reinterpret the original video during read-out. A single configuration covers all benchmarks. With Qwen3-VL-32B it solves both VET-Bench tasks, where a fine-tuned trajectory model reaches 92\% and 90\% and the same VLM voting over 16 samples stays at 30--32\%. It answers 55.4\% of the hardest Perception Test cup games, where the best published model answers 41.5\%, and, using track-derived timelines, 48.6\% of TOC-Bench questions, against 37.1\% for the same model answering directly. Drawing the same tracks on the video and asking the question directly falls 12--19 points short of the agent on real cup games.

cs.CV↗

VecTile: A Low-Cost Flexible Tactile Array for 3-DoF Force Sensing

Tactile sensing provides robots with contact information difficult to obtain from vision alone. Shear force is particularly important for understanding tangential contact, guiding corrective motions, and maintaining grasp stability, yet flexible and low-cost tactile arrays often measure only normal force. We introduce VecTile, a low-cost, 6 mm thin, flexible tactile array capable of three-axis force sensing. VecTile combines a piezoresistive layer with passive silicone nubs that convert normal and shear forces into distinguishable pressure patterns. The sensor can be fabricated in-house without specialized equipment. The complete system costs less than 35 USD for a 4x4 array. We validate the sensing mechanism through finite element analysis and hardware experiments. In controlled single-taxel tests over 1-5 N normal force and up to 1.5 N shear force, VecTile achieves root-mean-square errors of 0.39 N and 0.16 N for normal and shear forces. A VecTile calibrated while flat retains accuracy when curved, while a five-minute manual calibration is sufficient for practical use. Two applications demonstrate its utility. First, shear readings are sensitive enough to stop a sharp scalpel from puncturing a balloon after contact. Second, the sensor substantially improves Diffusion Policy-guided power-plug insertion. All designs and code will be released upon paper acceptance. Project website: https://jiannnh.github.io/VecTile/.

cs.RO↗

Chaotic dynamics and resonances in Einstein-Rosen standing wave spacetimes

Recent work has revealed chaotic geodesic behavior in Einstein-Rosen standing gravitational wave spacetimes. The dynamics of massive test particles are dominated by chaotic heteroclinic networks. This study demonstrates that the dynamical structure of the system is far richer than previously thought. Applying the subharmonic Melnikov function method to Poincaré maps reveals the admissible types of heteroclinic networks. I trace the evolution of these structures under the continuous change of the solution's parameters. In this way, I identify bifurcation phenomena, including a period-doubling bifurcation.

gr-qc↗

Skeleton-Grounded Latent Action Model for Robot World Models

Robot world models simulate how environments evolve in response to robot actions. Latent action models enable learning dynamics from videos by encoding visual transitions as proxy actions. However, reconstruction-driven latent actions mix robot motion with object responses and other scene changes, complicating their correspondence with robot controls. We propose SkeLAM, a skeleton-guided latent action model for controllable robot world modeling. SkeLAM decomposes latent actions into a kinematic component grounded by robot skeleton supervision and a residual component retaining complementary visual dynamics. Cross-modal swap reconstruction encourages RGB-derived and skeleton-derived kinematic representations to be interchangeable during video reconstruction. The world model incorporates both components through separate conditioning pathways, while branch dropout reduces its dependence on future-derived residual information. A lightweight adapter maps robot actions to the kinematic space, and subsequent world-model fine-tuning adapts generation to these predicted conditions. At inference, the model generates future observations from the current observation and robot actions. On DROID, SkeLAM reduces end-effector ADE by 19.5% and LPIPS by 11.1% compared with DreamDojo. Motion probing supports kinematic specialization, while qualitative results demonstrate zero-shot human-to-robot motion transfer in generated rollouts. Policy evaluation shows agreement between predicted success rates and those measured in real robot executions.

cs.RO↗

Prime Nullspace Matrices and Even Dominating Sets

A non-zero $m \times n$ (0, 1)-matrix $A$ is called a {\em nullspace matrix} if each entry $(i, j)$ of $A$ has an even number of $1's$ in the set of entries consisting of $(i, j)$ and its rectilinear neighbors. These matrices correspond to even dominating sets of $m \times n$ grid graphs. We study these matrices and consider those that cannot be constructed from smaller nullspace matrices.

math.CO↗

Point-Level Refinable Semantic Mapping for Spatial Understanding

Open-vocabulary 3D semantic maps have emerged as a key spatial memory representation for long-horizon robot autonomy, enabling robots to reason about objects, their spatial relationships, and past observations across time. However, existing object-centric semantic maps are primarily designed for static environments and rely on an append-only point integration strategy, where newly observed points are accumulated but previously integrated points are rarely reevaluated. Consequently, perception errors accumulate over time, and outdated points persist after objects move or disappear. Although recent dynamic mapping methods update object-level representations in changing scenes, they do not explicitly revise noisy or obsolete points within each object. We propose an online refinable semantic mapping framework that continuously refines object representations through probabilistic point-level confidence updating. Each object point maintains a confidence score that is updated online using multi-view temporal evidence: consistent observations reinforce reliable points, while inconsistent segmentation masks, depth measurements, and visibility cues suppress spurious and outdated points. Combined with object tracking and re-identification to preserve instance identities under motion and relocation, our framework enables object-centric semantic maps to be continuously refined rather than monotonically accumulated. Experiments demonstrate improved mapping accuracy over the previous method by 3.46% on Replica and 2.55% on ScanNet, show robustness in dynamic environments and under perception noise, and provide an effective spatial memory for object navigation and embodied question-answering with success rates of 82.4% and 76.7%.

cs.RO↗

Asymptotic observable symmetry for spacetime observability of waves I: The disc

Building on the spacetime observable symmetry discovered in NWX (2025), we introduce asymptotic observable symmetry (AOS) for the wave equation. Its central object is a family of generated approximate velocities constructed from fixed profiles, carrying the same propagation-induced symmetry at different scales and asymptotically realized by exact waves. We investigate AOS on the disc through radial propagation and reflection. This gives a family of spacetime measurable observation sets satisfying the essential spacetime measurable geometric control condition for a fixed positive observation time. However, the observability inequality fails on each of these fixed sets.

math.AP↗

MoG-VLM: Efficient Video Anomaly Detection through Motion-Guided Vision-Language Models

Vision-Language Models (VLMs) have shown strong potential for video anomaly detection, but dense frame-level inference makes them impractical for real-time deployment. Existing acceleration commonly relies on uniform sampling, which ignores content dynamics and can either waste computation on static segments or miss localized anomalies. We propose MoG-VLM a motion-adaptive anomaly detection framework that leverages motion purely as a lightweight control signal to decide when VLM inference is necessary. To this end, we introduce Temporal Gradient Magnitude (TGM) which performs content-aware sampling to concentrate computation on informative regions while avoiding redundant processing. We further introduce a hierarchical dual-stream design in which dense multi-frame VLM reasoning is activated only around frames with elevated anomaly likelihood, via anchor-triggered context-window expansion with early termination. A fusion module then reconciles these instantaneous semantic cues with temporal action dynamics. Across four benchmarks, our method achieves 91.91%, 84.30%, 87.88%, and 78.96% AUC-ROC on XD-Violence, UCF-Crime, MSAD, and ShanghaiTech, respectively, establishing new state of the art on three benchmarks under the zero-shot, training-free setting. On XD-Violence, we improve over the previous best result by +0.57% while delivering a 1.31x inference speedup. These results demonstrate that content-aware allocation of VLM capacity, processing fewer frames more intelligently rather than all frames uniformly, is a more effective axis of progress than uniformly densifying VLM inference across frames. Code is available on GitHub: https://github.com/kdawoud91/MoG-VLM.

cs.CV↗

Evaluating the Applicability of LLM Inference Optimizations on Apple Silicon

Apple Silicon is among the most widely used platforms for local LLM inference, yet nearly all inference optimizations are designed and validated on server-class NVIDIA GPUs under batched serving workloads. Which optimizations retain their benefits when moved to Apple Silicon, and what determines their applicability? We evaluate four optimization families: KV-cache pruning, speculative decoding, ported GPU kernels, and post-training quantization. Experiments span four Apple machines under a common single-request decode workload, with matched RTX 4090 comparisons where possible. KV-cache pruning can reach up to 1.75 times end-to-end throughput on Apple but can reduce throughput on desktop NVIDIA GPUs. Under the common benchmark, all evaluated speculative decoding methods reduce throughput on Apple, despite reported 2-6 times gains on server GPUs. CUDA kernel designs transfer only partially: public Metal lacks asynchronous copy, and batch-one decode makes several serving-oriented mechanisms inapplicable, although transferable components yield up to 1.20 times decode throughput. Quantization gains vary by machine. Across four families, a reported speedup is not a portable property of a technique alone but a joint function of technique, runtime, hardware contract, and workload regime.

cs.LG↗

Homogenization of the Stokes equations with slender bodies

In this paper we study the convergence of solutions of the Stokes equations in a domain perforated by slender bodies placed on a fixed periodic grid of size $2ε$ as the size of the bodies goes to zero and the number of bodies goes to infinity. We assume that the width $b_ε$ of the bodies vanishes faster than the length $a_ε$ of the particles. We identify the critical scaling regimes for $a_ε$ and $b_ε$ and prove that in this case the system is effectively described by the Brinkman equations.

math.AP↗

Supporting or Replacing Students' Reasoning? Cognitive Offloading in AI-Assisted Proof Learning

We studied 153 students in an undergraduate proof-based mathematics course with staggered-access to an AI support system. Students were randomly assigned to receive an AI chatbot and a homework-feedback interface earlier or later in the course. During the period when only the early-access group had access, their homework scores were 2.56 points higher, but exam performance did not differ significantly between groups, suggesting that improved AI-supported homework performance did not translate into detectable gains on a subsequent exam. After all students received access, every additional 100 messages sent to the AI chatbot was associated with a 3.02-point lower score on the subsequent exam. A mediation analysis showed a significant indirect association linking lower baseline self-efficacy to greater chatbot use and, in turn, lower exam scores: a one-point decrease in self-efficacy corresponded to 0.62 fewer exam points through chatbot use. These findings raise concerns that students may use the chatbot to offload their cognitive reasoning. Use of the homework-feedback interface, which required students to submit their proof attempts before receiving feedback, was not negatively associated with exam performance. We recommend against using a chatbot for AI tutoring and suggest exploring a tutor embedded in the course activities.

cs.HC↗

Slow Massive-Star Formation and the O-Star ZAMS Deficit

The scarcity of optically visible O stars near the theoretical zero-age main sequence (ZAMS) has puzzled astronomers for over four decades. We argue that it reflects prolonged accretion. If massive stars assemble over Myr timescales, as the inertial-inflow model predicts, core-hydrogen burning begins before accretion ends, and the stars become optically visible at the end of accretion on a birthline displaced from the standard ZAMS. We test this interpretation by comparing the hot-side envelope of Galactic O stars in the Kiel diagram with accreting stellar-evolution models, adopting a growth law $t_{\mathrm{form}}=τ_0(m_{\mathrm{f}}/60 M_\odot)^α$ with formation time $t_{\mathrm{form}}$ and final mass $m_{\mathrm{f}}$. The resulting birthlines reproduce both the displacement and the high-mass turnover of the observed envelope, with best-fitting parameters $(α,τ_0)=(0.52,4.3\,\mathrm{Myr})$, consistent with independent constraints from the luminosity functions of compact H II regions and OB stars. The two constraints have orthogonal degeneracy directions, so combining them narrows the allowed parameter space, yielding projected 90% confidence intervals $0.43<α<0.60$ and $3.9<τ_0/\mathrm{Myr}<5.0$. The inferred growth law agrees with cloud-scale simulations and the inertial-inflow model, and implies that mass assembly and main-sequence evolution overlap substantially in massive stars, with broader implications for stellar evolution and feedback.

astro-ph.SR↗

Training Small Language Models for Transferable Tool Selection

As LLM agents operate over corpora of more than ten thousand tools, selecting the right tool for a complex multi-step user instruction becomes a central bottleneck. Tool descriptions cannot all fit in context, and relevance-based retrievers only rank tools without knowing which are actually needed. Recent work instead leverages proprietary commercial LLMs like Claude or ChatGPT to drive a retriever, decomposing the instruction and selecting over retrieved candidates. We show that a small, open model can be trained via reinforcement learning to perform the same functionality. On ToolBench, a Qwen3-8B model post-trained with our recipe outperforms Llama-4-Maverick (402B). In addition, the trained model transfers directly to different retrievers and generalizes to new tool corpora in different domains.

cs.LG↗

Prompt Jet Launching and Delayed Thermal Disk in Tidal Disruption Event for Prolonged Activity GRB 220706A

GRB 220706A exhibits X-ray flaring activity extending to ~51 days after the trigger, along with a luminous optical thermal component emerging on a timescale of ~10^6 s. Such prolonged central-engine activity could be powered by a collapsar fed by an extended stellar envelope. However, a relativistic jet may struggle to break out of the extended envelope. These challenges motivate a tidal disruption event (TDE), although explaining both the early relativistic jet and the luminous late optical thermal emission within one TDE framework remains difficult. We investigate a TDE scenario in which shocks between stellar debris streams drive the early inflow of some debris, potentially carrying preexisting fossil magnetic flux toward the black hole (BH) and powering an initial relativistic jet via the Blandford-Znajek mechanism. The remaining debris circularizes into an accretion disk, whose thermal emission accounts for the late optical thermal component. For GRB 220706A, the optical timescale, luminosity, and color temperature are consistent with disruption of a blue supergiant (M_*~50M_{sun}, R_*~20~R_{sun}) by a BH of mass M_{BH}~10^5 M_{sun}, assuming that the accretion disk forms on a timescale comparable to the orbital period of the most tightly bound stellar debris. A magnetic field strength of ~10^5 G is required near the BH before disruption to power a jet capable of producing the inferred gamma-ray luminosity. Continued fallback may sustain central-engine activity beyond the observed X-ray flaring episode, making future X-ray monitoring a test of this scenario.

astro-ph.HE↗

From Quaternions to Pentarnions I: Algebra, geometry, and a spin model

We introduce a family of five-dimensional non-flexible quadratic real algebras $\{\mathcal A_γ\}_{0\leqγ\leq1}$ with canonical basis $1,i,j,k,\ell$, in which $γ$ changes the multiplication but not their norm, and study how this change affects geometry and dynamics. The algebras are pairwise non-isomorphic, $\mathcal A_0$ contains Hamilton's quaternion algebra, and $\mathcal A_1$ is the Pentarnion algebra. The alternating part of the trilinear form $\langle u\times_γv,w\rangle$ induced by the multiplication of $\mathcal{A}_γ$ defines a three-dimensional subspace $H_γ\subset\operatorname{span}_{\mathbb R}\{i,j,k,\ell\}$, tilted by the angle $\arctan(γ/\sqrt3)$, whose rotation group $G_γ\cong\mathrm{SO}(3)$ contains the automorphism group of $\mathcal A_γ$. For $γ_1\neγ_2$ the groups $G_{γ_1}$ and $G_{γ_2}$ generate $\mathrm{SO}(V)\cong\mathrm{SO}(4)$. For the six ways of ordering and bracketing the product of $i,p,p$ in $\mathcal A_γ$, two map the unit circle in ${\rm span}\{j,k\}$ to a point and, for $γ>0$, four map it to ellipses. As an application, we derive a Hamiltonian model of a classical spin on $H_γ$ whose multiplication-induced quadratic energy is isotropic for $γ=0$ and anisotropic for $γ>0$. It conserves spin length and, for fixed $γ$, energy, and satisfies an exact work identity when $γ$ varies in time. Numerical experiments with periodically varying $γ$ indicate both regular and irregular spin dynamics.

math.RA↗

Effective Dual Subgradient Methods Through Sequential Subgradient-Aligned Rays

In this paper, we propose an efficient subgradient-based framework, referred to as the sequential subgradient-aligned rays (SSAR) method, for improving the convergence performance of the dual subgradient method. In particular, the proposed method identifies and exploits a finite sequence of rays, when available, as the dual subgradient method evolves, along each of which a subgradient of the negative dual function remains constant and aligns with the ray. While the dual variable iterates remain on each identified ray, a constant stepsize associated with the ray is employed, with the associated constant stepsizes decreasing from one ray to the next. This approach yields constant decrements in the negative dual function values while the dual variable iterates remain on the associated rays, enabling the dual variable iterates to progress more quickly toward a dual optimal solution. We then show that the proposed SSAR method can be leveraged to improve the performance of the dual decomposition method for minimizing the average of local loss functions associated with multiple agents that share a common decision variable, a widely used problem formulation in many large-scale real-world applications. In particular, the SSAR method improves the convergence performance of the corresponding dual decomposition method while also reducing its communication cost. Numerical experiments on a least squares regression problem and a logistic regression problem using real datasets are conducted to evaluate the performance of the SSAR method.

math.OC↗

Conservative Finite Element Methods for Kirchhoff-Type Equations

We construct and analyse a fully discrete scheme for a Kirchhoff-type nonlinear integro-differential equation in two spatial dimensions with time-dependent coefficients. The scheme combines a symmetric three-layer time discretization of Crank--Nicolson type with a conforming finite element method of arbitrary polynomial degree $p$ and a Picard iteration for the nonlinearity. We prove that the Picard iteration is well defined and, that the iterates converge to the Ritz projection of the exact solution measured in fractional-power norms of the discrete Laplacian. Running the same energy argument in the unshifted norms, and under the same hypotheses, we then obtain the optimal order $\mathcal{O} ( h^{p+1} + τ^2 )$ in $L^2$ and $\mathcal{O} ( h^{p} + τ^2 )$ in $H^1$ for the full error. For the homogeneous problem with constant coefficients, the exact solution of the scheme moreover preserves a discrete energy identically. Numerical experiments with manufactured solutions reproduce the predicted second order in time and the full spatial order $h^{p+1}$ in the $L^2$-norm.

math.NA↗

Barrier Function Control for the Interconnection of DC Electronic Loads to Utility Grid

This paper proposes a nonlinear control law that facilitates the safe integration of DC electronic loads to the utility grid. Specifically, by employing suitable reciprocal barrier functions, it is rigorously proven that the closed-loop system guarantees constrained operation within a desired operating region, despite the influence of fast converter dynamics and fluctuating constant power load demand. This way, the proposed controller guarantees safety of the electronic components from surges in power demand and high transients. The theoretic results are validated in simulation scenarios, where the performance of the proposed controller is compared against the conventional saturated-PI controller. Contrary to the latter, the proposed method guarantees stable and safe operation, enhancing the system robustness.

eess.SY↗