arXiv preprints from January 1, 2026 through September 18, 2026 — 16:08:16 EST
In recent years, the rapid development of Large Language Models (LLMs) has significantly enhanced natural language understanding and human-computer interaction, creating new opportunities in the field of robotics. However, the integration of natural language understanding into robotic control is an important challenge in the rapid...
Temporal knowledge graph question answering (TKGQA) involves multi-hop reasoning over temporally constrained entity relationships in the knowledge graph to answer a given question. However, at each hop, large language models (LLMs) retrieve subgraphs with numerous temporally similar and semantically complex relations, increasing the...
Amplify and forward (AF) relaying is a viable strategy to extend the coverage of sub-terahertz (sub-THz) links, but inevitably propagates noise, leading to cumulative degradation across multiple hops. At the receiver, optimal decoding is desirable, yet challenging under non-Gaussian input distributions (video, voice, etc), for which...
Video Individual Counting (VIC) is a recently introduced task aiming to estimate pedestrian flux from a video. It extends Video Crowd Counting (VCC) beyond the per-frame pedestrian count. In contrast to VCC that learns to count pedestrians across frames, VIC must identify co-existent pedestrians between frames, which turns out to be a...
Large language models (LLMs) have revolutionized natural language processing, but their ability to process long sequences is fundamentally limited by the context window size during training. Existing length extrapolation methods often suffer from performance degradation or computational inefficiencies. We thereby use a unified...
LiDAR-camera extrinsic calibration is essential for multi-modal data fusion in robotic perception systems. However, existing approaches typically rely on handcrafted calibration targets (e.g., checkerboards) or specific, static scene types, limiting their adaptability and deployment in real-world autonomous and robotic applications....
In an effort to compete with the brain's efficiency at processing information, neuromorphic hardware combines artificial synapses and neurons using mixed-signal circuits and emerging memories. In ferroelectric resistive weights, the strength of the synaptic connection between two neurons is stored in the device conductance. During...
Existing benchmarks for tool-using LLM agents primarily report single-run success rates and miss reliability properties required in production. We introduce \textbf{ReliabilityBench}, a benchmark for evaluating agent reliability across three dimensions: (i) consistency under repeated execution using $\mathrm{pass}^k$, (ii) robustness...
Large Language Models (LLMs) can generate plausible code, but in settings that require exact stdin/stdout behavior they frequently produce programs that compile yet fail tests, and in some cases they introduce security-sensitive patterns. This paper presents SecureCodeRL, a reinforcement learning (RL) pipeline for security-aware code...
Encrypted network traffic poses significant challenges for intrusion detection due to the lack of payload visibility, limited labeled datasets, and high class imbalance between benign and malicious activities. Traditional data augmentation methods struggle to preserve the complex temporal and statistical characteristics of real...
Predicting how populations respond to policy interventions is a fundamental challenge in computational social science and public policy. Traditional approaches rely on aggregate statistical models that capture historical correlations but lack mechanistic interpretability and struggle with novel policy scenarios. We present a general...
This paper investigates the uplink covert communication in a multiple-input multiple-output (MIMO) satellite-terrestrial system consisting of an Earth station transmitter Alice, a geosynchronous Earth orbit (GEO) satellite receiver Bob, and multiple GEO satellite wardens around Bob, where each node in the system is equipped with an...
Conceal dense prediction (CDP), especially RGB-D camouflage object detection and open-vocabulary camouflage object segmentation, plays a crucial role in advancing the understanding and reasoning of complex camouflage scenes. However, high-quality and large-scale camouflage datasets with dense annotation remain scarce due to expensive...
Large language models (LLMs) often encode cognitive behaviors unpredictably across prompts, layers, and contexts, making them difficult to diagnose and control. We present CBMAS, a diagnostic framework for continuous activation steering, which extends cognitive bias analysis from discrete before/after interventions to interpretable...
Introduction: Heart failure with preserved ejection fraction (HFpEF) arises from diverse comorbidities and progresses through prolonged subclinical stages, making early diagnosis and prognosis difficult. Current echocardiography-based Artificial Intelligence (AI) models focus primarily on binary HFpEF detection in humans and do not...
This study evaluates the linguistic and clinical suitability of synthetic electronic health records in mental health. First, we describe the rationale and the methodology for creating the synthetic corpus. Second, we examine expressions of agency, modality, and information flow across four clinical genres (Assessments, Correspondence,...
Semantic segmentation is a fundamental problem in computer vision and it requires high-resolution feature maps for dense prediction. Current coordinate-guided low-resolution feature interpolation methods, e.g., bilinear interpolation, produce coarse high-resolution features which suffer from feature misalignment and insufficient...
Qualitative data are widespread in domains such as healthcare, marketing, and bioinformatics, where clustering offers a fundamental tool for pattern discovery. A core difficulty of qualitative-data clustering lies in measuring similarity among attribute values that carry no inherent ordering or distance. To recover such relationships,...
As quantum systems scale, Multiprogramming Quantum Computing (MPQC) becomes essential to improve device utilization and throughput. However, current MPQC pipelines rely on expensive online compilation to co-optimize concurrently running programs, because quantum executables are device-dependent, non-portable across qubit regions, and...
Large language models (LLMs) frequently produce inaccurate or fabricated information, known as "hallucinations," which compromises their reliability. Existing approaches often train an "Evil LLM" to deliberately generate hallucinations on curated datasets, using these induced hallucinations to guide contrastive decoding against a...
Existing methods for multi-agent navigation typically assume fully known environments, offering limited support for partially known scenarios with outdated or imperfect prior maps, such as warehouses or factory floors. There, agents need to balance path optimality with collecting and sharing environmental information to help teammates...
Large language models have achieved significant success in various domains, yet their understanding of lyric-centric knowledge has not been fully explored. In this work, we first introduce PlaylistSense, a dataset to evaluate the playlist understanding capability of language models. PlaylistSense encompasses ten types of user queries...
Time series classification is a fundamental machine learning task with broad real-world applications. Although many deep learning methods have proven effective in learning time-series data for classification, they were originally developed under the assumption of balanced data distributions. Once data distribution is uneven, these...
In numerous practical applications, acquiring substantial quantities of labelled data is challenging and expensive, but unlabelled data is readily accessible. Conventional supervised learning methods frequently underperform in scenarios characterised by little labelled data or imbalanced datasets. This study introduces a hybrid...
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo camera, an inertial measurement unit (IMU), and a 3D sonar to achieve accurate 6-DoF localisation...