arXiv preprints from January 1, 2026 through September 7, 2026 — 04:03:15 EST
This paper presents a coordination architecture for heterogeneous UAV/UGV swarms that synthesises mission actions from uncertain, multi-modal sensor evidence while preserving hardware-enforced safety at the actuation boundary. The approach combines radar, RF, acoustic, and visual observations with Topic-Based Communication Space Petri...
In large and heavy structures, vibrations arise during motion, posing significant challenges for precise manipulation. To accomplish the desired motion, control algorithms must effectively suppress these structural vibrations. In cutting edge projects, such as remote maintenance of future fusion energy reactors (tokamaks), the...
The key-value (KV) cache stores information from past tokens and is a major memory bottleneck in long-context inference. Existing quantization methods address this bottleneck by representing the KV cache uniformly with lower-precision data types and designing quantization schemes to minimize reconstruction error in the cache itself,...
Battery swapping is a rapid way to recharge electric vehicles (EVs). As more and more entities are involved in building Battery Swapping Stations (BSSs), how non-cooperative BSSs maximize their profit in a competitive market needs further investigation. In this paper, we focus on a practical scenario where competitive BSSs are...
We present a demonstration showcasing the Autonomy Testbed for Multi-purpose Orbiting Systems (ATMOS), a planar spacecraft-analog robot designed for hardware-in-the-loop evaluation of guidance and control strategies in microgravity-like conditions. Using ATMOS as the physical test platform, we investigate the design, analysis, and...
Current real-time AI improvisation systems lack the communication awareness human musicians rely on: rather than treating communication as a foundational algorithm design concern, most systems layer interaction strategies post-hoc onto generative algorithms through explicit controls and predefined modes. This gap persists in part...
The tournament isomorphism problem is one of the two fundamental bottlenecks to designing better algorithms for the graph isomorphism problem. Though the problem has been investigated for more than five decades, compared to graphs, there are only very few results on the isomorphism problem of tournaments. For most classes of...
AI is increasingly being used to help with AI R&D. Under certain conditions this feedback loop might be able to produce an intelligence explosion, with rapidly escalating AI capabilities. I explore the mathematics of the most explosive possibilities, with an eye to understanding what drives the dynamics. I show that singular growth...
A single clinical algorithm can deliver unequal accuracy across patient groups, and concern about such disparity has grown as artificial intelligence (AI) spreads through clinical decision-making. In response, a liability rule introduced in the United States holds healthcare providers responsible when their reliance on disparate...
We introduce the problem of designing mechanisms that incentivize strategic agents to form self-funded marketplaces. In our model, if agent $i$ exerts effort $x_i\in [0,1]$, they incur a cost of $x_i\cdot c_i$ (where $c_i$ is unknown to the mechanism designer) and they generate revenue $x_i\cdot r_i$; crucially, $c_i$ can be greater...
With the rapid advancement of image editing models and their widespread application across various domains, there is an increasingly urgent need to deploy these model capabilities directly into real-world scenarios. However, existing benchmarks remain confined to simple single-image tasks, suffering from limited coverage dimensions...
High-resolution image restoration from degraded inputs is challenging because it must preserve global structural consistency while recovering fine-grained local details, especially at 4K resolution where direct diffusion-based restoration is computationally expensive and prone to repeated or inconsistent textures. In this work, we...
Determining the biological sex of the individuals who created Upper Paleolithic hand stencils remains a challenging problem due to the absence of ground truth, population differences between contemporary and prehistoric groups, and the uncertainty introduced by image degradation. Traditional morphometric methods suffer from high...
Vulnerability detection via static analysis traditionally relies on security experts encoding insecure coding patterns into algorithmic rules. However, this approach often focuses on syntactic patterns and overlooks deeper semantic information in the code, such as the meanings of variable and function names. As software systems grow...
As spacecraft become more software-driven and interconnected, onboard flight software is an increasingly important security boundary. Popular flight software architectures often treat onboard components as trusted peers, simplifying integration while limiting internal isolation and access control. We analyze NASA's Core Flight...
Articulated vehicles are the workhorses of freight transportation, and their autonomous navigation is challenging. Their physical characteristics and motion constraints pose significant challenges in manoeuvring these vehicles on narrow routes. This paper presents a spatiotemporal tube-based approach to plan autonomous navigation of...
Interactive game world models typically autoregress visual observations directly in pixel or latent space, forcing structured properties such as pose, geometry, and occlusion to be implicitly maintained by the same generative sequence. Over long horizons, errors in these latent world properties accumulate, making consistency and...
For every constant $2<p<\infty$ and every constant \[ 0<\varepsilon< \min\left\{\frac{p-2}{4p},\frac18\right\}, \] we give a deterministic polynomial-time reduction from 3SAT to $M^\varepsilon$-GapSVP$_p$, where $M$ is the lattice rank. For $p=\infty$, the same holds for every constant $0<\varepsilon<1/8$. The reduction builds on...
This study investigates the methodological and theoretical properties of session handover in applications that use large language models. A task may continue in a new session when the context reaches the model's input limit, when the application restarts, or when another agent is asked to finish the task. The application must then...
Large language model (LLM) agents are increasingly used to modernize the legacy Fortran underlying production scientific software, but validation of these transformations emphasizes nominal executions and may not test whether a modernization preserves the original code's response to faults, perturbations, and reduced precision. We...
Full justified representation (FJR) is among the strongest known satisfiable proportionality axioms for approval-based committee elections. Recent work has shown that an FJR committee can be found in polynomial time, but verifying whether a given committee satisfies FJR remains coNP-complete. We introduce FJR+, a strict strengthening...
Limit order book (LOB) simulators are most useful to practitioners when they combine realistic market dynamics, computationally efficient sampling, controllable scenario generation, and the ability to generalize beyond the instruments seen during training---properties that existing agent-based and deep generative simulators provide...
Financial forecasting models are typically developed in full precision, yet production deployment often requires low-precision inference to reduce memory and computational cost. Post-training quantization (PTQ) enables such deployment without retraining. However, reliable activation quantization requires calibration: activation ranges...
Financial institutions are delegating consequential decisions to agentic AI systems that decompose goals, coordinate models and tools, and act with little oversight. Yet agentic AI governance in FinTech is under-investigated. We argue the binding governance constraint is not capability but verifiability. We define the Verifiability...
Specialist training beats generalist scale when forecasting financial statements. To our knowledge, no prior work jointly forecasts complete financial statements beyond one year, yet in a discounted-cash-flow valuation most firm value sits past that window. We release ProForma-20Q, a reproducible benchmark for forecasting 78 statement...