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Search papers from 30+ top conferences, including NeurIPS, ICLR, ICML, CVPR, ACL and AAAI. Filter by keyword, then open any paper for its abstract, authors and links.

arXiv

KV-Skill: Forging Expertise in the Model's Native Language

Zhaowei Han, Xiang Zhang, Bing Han, Kai Liu, Danqi Hu, Jie Liu

Task knowledge is commonly stored either as text in the prompt or as an update to model weights. Text is modular but must be interpreted on every use, while weight adaptation makes the resulting capability difficult to load, remove, or share independently. We introduce KV-Skill, a design space of external factorized operators that a frozen language model reads through a lightweight interface. KV-Skill supports two complementary paths. Registration converts an authored text skill into a text-derived operator and trains a shared per-backbone interface. Reward learning develops a compact latent operator directly from task outcomes, with or without an authored skill. Neither path adds positions to the prompt. Across ten benchmarks and four backbones from three model families, converting text to a KV-Skill consistently makes the same procedural knowledge more effective. On Qwen3.5-4B LiveMath, registration reaches 77.2 accuracy, compared with 23.4 for the source text skill, 52.0 for SkillOpt, and 64.5 for SoftSkill. Under matched reward training and parameter budgets, KV-Skill gives the best result in seven of eight matched settings against soft prefixes, prefix tuning, and LoRA. A post-hoc rank analysis further shows that text-derived operators retain nearly all of their benefit with one task-aligned direction per injection layer, while matched random directions fail. Finally, one shared interface retains three independently loadable KV-Skills without measurable forgetting. These results show that task knowledge can be acquired from text or experience, compressed into an external operator, and deployed separately from the backbone. Code is available at: https://github.com/shawnzhg/KV-Skill

arXiv

Matrix Zonotopic Attention: A Context-Adaptive Value Projection for Set Transformers

Zhen Zhang, Amr Alanwar

Multi-head attention combines an input-dependent softmax routing with an input-independent linear value projection, so the per-sample operator mapping aggregated values to outputs is the same for every input set. We study the consequences of this asymmetry for permutation-invariant set targets. We introduce the Transformation Degrees of Freedom (TDOF) of a target operator, a complexity measure counting the input-dependent directions an exact representation requires, and present a depth-separation analysis showing that context-rigid attention needs depth proportional to the target's TDOF, whereas a single layer with a context-adaptive value family can represent the same target. Building on this analysis, we propose Matrix Zonotopic Attention (MZAttn), which replaces the fixed value projection with a context-adaptive matrix-zonotope family: a centre matrix plus a sum of generator matrices weighted by input-dependent gates. The construction reduces to standard multi-head attention at initialisation, preserves permutation equivariance, and admits a data-driven reachability interpretation. Experiments on a range of set-prediction tasks are consistent with the TDOF prediction that the architectural advantage is selective: it appears on targets that depend on the input set in a high-rank, sparsely combinatorial way, and is small on aggregate-statistic targets where parameter-matched standard attention is already competitive.

arXiv

Effective pruning of task-trained recurrent neural networks using noisy fluctuations and connection rescaling

Sanjith Senthil, Rishidev Chaudhuri

The pruning of network connections is key to brain function but, despite its importance, there exist few biologically-plausible pruning rules with demonstrated good performance. In this work we evaluate noise-prune, a recently introduced unsupervised local pruning rule for recurrent networks that uses noisy fluctuations to determine the importance of connections. Noise-prune has previously only been empirically tested on random networks without a specific computational function. We show that noise-prune preserves task-performance in task-trained recurrent neural networks, greatly outperforming a strategy that only uses the magnitude of connections and performing on par with or exceeding a non-local strategy that uses second-order information. Rather than deterministically removing connections that fall below a certain threshold importance, noise-prune samples connections to preserve based on their importance and strengthens retained connections to preserve average synaptic strength. We show that this sampling and rescaling is essential to good performance, but that the optimal empirical degree of rescaling is lower than that predicted by the original theoretical argument. Our work thus validates noise-prune as a biologically-plausible pruning rule for functional recurrent network architectures and characterizes its optimal parameter settings.

arXiv

Hybrid Probabilistic Zonotopes for Identifiable and Refinable Predictive Uncertainty

Zhen Zhang, Amr Alanwar

Probabilistic prediction heads in neural networks typically output either a Gaussian mixture or a single conformal region. Neither separates the distinct sources of uncertainty often present in real prediction tasks: a discrete choice among modes, bounded systematic drift within the chosen mode, and irreducible stochastic noise. We introduce the Hybrid Probabilistic Zonotope (HProbZ), an output head that represents these three sources as binary, bounded, and stochastic generators of a zonotope, and admits a closed-form likelihood by convolution. Sharing the bounded generator across prediction steps couples future predictions algebraically, so observing one step refines the predictive distribution at every remaining step in a single forward pass. We establish that the three generators are identifiable from the likelihood up to permutation, and that an HProbZ density is representationally distinct from any finite Gaussian mixture. The same shared structure provides analytic per-mode risk and distribution-free multi-modal conformal sets at inference time. Empirical analysis on representative prediction benchmarks supports the effectiveness of the design relative to same-encoder mixture baselines, while offering structural properties that mixture or convex-conformal predictors do not jointly provide.

arXiv

SCP-NL2TL: Selective Conformal Prediction with Semantic Verification for Natural Language to Temporal Logic Specifications

Yixuan Wang, Licheng Luo, Yu Fu, Kaidi Xu, Yue Dong, Mingyu Cai

Translating natural language instructions into machine-interpretable formal specifications enables robots and autonomous systems to plan, reason, and formally verify their behavior. However, existing translation models typically generate a specification for every input, even when the result is unreliable or fails to capture the user's intent, creating risks in safety-critical applications. Inspired by selective conformal prediction, we propose a selective translation framework that not only generates formal specifications but also determines when they can be trusted. Reliability is scored by two complementary black-box signals, the fidelity of the specification back-translated into natural language and the dispersion of repeated translations under exact semantic equivalence, which fail on different errors and jointly separate incorrect translations more sharply than either alone. Conformal risk control calibrates this score into a decision that accepts a specification or abstains, with a distribution-free bound on the rate at which incorrect specifications are accepted for execution, and a conformal anomaly detector on instruction embeddings screens out-of-distribution inputs before any translation is attempted. The proposed framework is general across formal specification languages, with experiments on Signal Temporal Logic (STL), Linear Temporal Logic (LTL), and geometric Spatio-Temporal Logic (SpaTiaL) demonstrating improved translation reliability, robustness under the evaluated cross-tier shifts, and effective uncertainty-aware abstention. This work establishes a foundation for trustworthy natural language interfaces by enabling AI systems to recognize when generated specifications may not be reliable.

arXiv

Discrete energy as an exact label-free training objective for finite-element surrogates

Ruifeng Cao, Xidan Song

Supervised training of finite-element (FE) surrogate models requires reference solutions, and each reference solution is obtained by solving the system that the surrogate is intended to replace. The assembled discrete potential energy provides a training signal that requires no reference solution. This note records, with proofs, the identities that make this signal exact for linear elastostatics: the difference between the energy of a prediction and the energy of the reference solution equals one half of the squared stiffness-norm error, and the gradient of the energy equals the stiffness-weighted error. Label-free discrete-energy minimisation and supervised regression in the stiffness norm therefore have the same unique minimiser and identical gradients at every point. Around this central result, the note states a conditioning lemma that bounds the displacement error by the energy gap, a modewise contraction identity that explains why the Euclidean displacement error is an unsuitable primary metric, the Chebyshev bound that governs conjugate-gradient post-processing of surrogate predictions, and a conditional latent-separation proposition for joint-embedding predictive architecture (JEPA) pretraining on a shared stiffness operator, with an explicit numerical counterexample that delimits its scope. Every claim with numeric content is implemented as an executable falsification check; the checks were executed twice, on synthetic test problems and on a probe set of 16 instances from the validation split of a pre-registered experimental run, and every inequality holds, with the measured tightness reported. A closing section explains why the construction does not extend to elastodynamics through direct minimisation of the action functional, and which time-discrete formulation restores exactness.

arXiv

Robust Context-Aware Detection of Malicious Instructions in Text

Buzhao Liu, Xinhang Ma, Yevgeniy Vorobeychik

The remarkable instruction-following ability of modern LLMs has enabled their practical use as the minds of agents that can autonomously complete increasingly complex tasks. Therein, however, also lies their vulnerability to attacks which embed malicious instructions in text, common variants of which are known as indirect prompt injection (IPI). A fundamental task in addressing this vulnerability is successful segmentation of a given text into benign and malicious sentences (if any). While a number of approaches for this task have been proposed, no detector combines query-relative detection at the segment level, and none are hardened against adaptive evasion attacks realizable in agentic executions. We address the former limitation by developing an approach for malicious sentence classification that is both context- and query-aware. Next, to harden the resulting classifier against evasion, we present two adversarial training methods. The first is directly adapted feature-space adversarial training (AT) in which evasions are approximated using projected-gradient-based optimization in the embedding space. The second simulates realizable evasion attacks in the AT loop through LLM-based paraphrasing. Crucially, we parametrize both AT variants to facilitate a smooth tradeoff between utility and attack robustness. In extensive experiments using indirect prompt injection benchmarks we show that the proposed approach outperforms state-of-the-art IPI defense baselines under static attacks, while in the case of adaptive attacks, our AT variants provide significantly higher utility, lower attack success rate, and often both. Finally, we show that the best AT parameters can depend intimately on the particular application domain. Consequently, domain-dependent tuning of malicious text detectors is likely necessary in practice. Our code is publicly available at https://github.com/tavia-liu/CAD.

arXiv

Why the Third Axis Is Freedom

Michael Timothy Bennett

In generative training, a model produces an output and is penalised for its difference from an example. With one output per comparison, a model that produces one common answer can outperform a model retaining a broader repertoire. Explorative Modeling (XM) produces $K$ outputs per comparison and updates on the closest, claiming exploration as a "third pretraining axis" associated with generative expressivity. Here I show the third axis is actually freedom, meaning the weakness of the constraint implied by a model's behaviour. Previous work showed freedom is a property of function rather than form. Parameters, architecture, minimum-description-length (MDL), and data can vary while the behavioural constraint remains unchanged. It was formally proved that weakest models are likeliest to generalise, and freedom selection beat MDL by 110-500\% in induction experiments. I prove average XM loss depends on the chance a candidate misses an acceptable region, with exploration raising miss probability to power $K$. For $K>1$, match probability rises with freedom. I then demonstrate empirically that XM optimises for freedom. In a Forward XM experiment, larger $K$ increased or saturated measured freedom, and increased freedom at every tested value under context-dependent targets. I trained XM candidate pools and compared validation selection with a freedom selector that read unlabelled parent contexts. Freedom won in 29 of 30 cases. Generative expressivity is a mode-count proxy for freedom, that discards the extension structure that gives freedom its generalisation significance. XM is a means, freedom an end, and selecting for freedom improved XM under distribution shift.

arXiv

IFlowNets: Extending Generative Samplers to Learn Strategies in Incomplete Information Games

Conor M. Artman, Nicholas Di, Scott Perkins

While many algorithms blend reinforcement learning (RL) with counterfactual regret (CFR) methods to leverage tradeoffs in computational speed and performance, there are fewer investigations into generative sampling frameworks in game theoretic applications in incomplete information games. We extend a generative flow network framework, Adversarial Flow Networks (AFlowNets), to incomplete information games, called Information Flow Networks (IFNs). We prove that previously established constraints for generative flow networks in complete information games are inadmissible for obtaining valid densities (corresponding to player strategies) and a valid training objective. We show that our proposed generalization, IFlowNets, alleviates this issue and strictly generalizes AFlowNets. In preliminary results for three standard game environments, IFlowNets perform comparably to or better than Outcome Sampling Monte Carlo Counterfactual Regret (OSMCCFR) and standard RL-based methods in performance and speed.

arXiv

Can Open-Weight LLMs Produce Kernel-Verified Coq Proofs? A Pilot Study

Ahmed Ryan, Md Erfan, Akond Ashfaque Ur Rahman, Md Rayhanur Rahman

Large language models (LLMs) can generate text that resembles a mathematical proof, but resemblance does not establish correctness. A formal proof checker verifies whether each proof step follows established logical rules. Coq bases its rules on the Calculus of Inductive Constructions, a logical framework that defines which proof steps the system may accept. This pilot study evaluated six open-weight LLMs on the same 100 theorems from CoqStoq, a benchmark derived from real Coq projects. Each LLM received one attempt per theorem with the temperature set to 0, and Coq checked every proposed proof in the theorem's original project environment. We counted a proof as successful only if the Coq kernel accepted it. Gemma 4 verified 12 of 100 theorems, Llama 3.3 verified 8, and DeepSeek Coder V2 Lite verified 1. Qwen 3.5, Mistral Small 3.1, and GPT-OSS verified none. The 21 successful model-theorem results covered 15 distinct theorems, 11 of which were not solved by a baseline of standard Coq tactics. All verified theorems had short or medium human-written reference proofs; no model verified a theorem with a long reference proof. Because the proof-length analysis was exploratory, this pattern does not establish that proof length caused the difference. For the three models with at least one success, the total generation cost per verified proof ranged from 741 to 36,193 output tokens, 14.9 to 178.0 seconds, and 0.0167 to 0.2000 aggregate GPU hours. We could not calculate these ratios for models with no verified proofs. Across 600 attempts, the models produced 21 kernel-verified proofs, giving an overall success rate of 3.5%. The study reports descriptive differences among the models but does not statistically test whether one model outperforms another. Therefore, the results do not establish a universal ranking of the six models.

arXiv

Perturbation Sensitivity at Convergence: A Simple Signal for Identifying Spuriously Correlated Samples

Nilesh Kumar

Models trained by empirical risk minimization on data containing spurious correlations achieve high average accuracy while failing on subpopulations where the correlation does not hold. Existing methods for identifying the affected samples without group annotations rely on signals from early training, which requires locating the epoch at which to intervene, a hyperparameter typically selected using group-labeled validation data. We show that a usable signal is available after convergence, when loss no longer distinguishes the two populations. Samples consistent with the spurious correlation are classified by a shared rule, while the remaining samples are fit through configurations specific to individual inputs and are correspondingly more fragile. Applying a fixed perturbation to a converged model's inputs flips the predictions of the latter far more often than the former. The resulting procedure requires two forward passes per training sample, no group annotations at any stage, and no early-stopping epoch. Using the detected samples to rebalance training raises worst-group accuracy on Waterbirds from 57.3% to 80.8%, against 85.8% with ground-truth group labels.

arXiv

Spectral Distillation: From Nonlinear Dynamics to Linear State-Space Models

Liane Galanti, Devan Shah, Shlomo Fortgang, Elad Hazan

Can nonlinear dynamical systems be learned through a compact linear state-space representation, without directly solving a non-convex system-identification problem? We give a provable pipeline for doing so. Starting from observations of an unknown nonlinear dynamical system, we first learn an implicit spectral predictor using Observation Spectral Filtering (OSF), a convex method that competes with the best linear observer for the system. We then apply spectral-to-LDS distillation to convert this predictor into an explicit recurrent linear dynamical system. Our main theorem shows that the average prediction error of the distilled LDS decomposes into an exponentially-small distillation term and the OSF learning term governed by the Luenberger complexity of the best observer. The guarantee is dimension-free: it depends on observer complexity rather than on the latent dimension needed to represent the nonlinear system. To our knowledge, this yields the first end-to-end provable method for extracting a best-in-hindsight LDS representation of nonlinear dynamics through convex learning followed by provable distillation. Experiments on linear LDS benchmarks and MuJoCo behavior cloning show that the train-then-distill pipeline produces compact LDS predictors that match or outperform directly trained baselines.

arXiv

DoctorAgents: an agentic framework to iteratively refine AutoML pipeline for small clinical temporal data

Ruilin Wang, Bo-Hong Wang, Elizabeth Kourbatski, Jun Bai, Hegang Chen, Ziyang Song, Gilles Boire, Marie Hudson, Yue Li

Clinical machine learning (ML) has the potential to support high-stakes medical decision-making, but reliable deployment is often constrained by scarce, heterogeneous, and temporal complexity. Developing effective ML pipelines for such data remains time-consuming and error-prone, while existing automated machine learning (AutoML) systems only partially address this challenge because they largely rely on brute-force search over predefined spaces and lack explicit reasoning and memory. We therefore reformulate AutoML for small clinical data from exhaustive search to reasoning-driven refinement. We propose DoctorAgents, an agentic AI framework that autonomously constructs and optimizes end-to-end ML pipelines through specialized large language model (LLM) agents for generation, validation, and refinement. DoctorAgents backpropagates natural-language feedback through textual gradient descent to perform targeted updates without exhaustive search. Experiments across diverse clinical tasks show that DoctorAgents consistently outperforms established AutoML baselines while producing more interpretable task-specific representations.

arXiv

Velocity- and Regime-Aware Detection of Intraday Options Market Manipulation, with Explainable Attribution

Alex Chen, Maria Hybinette

Intraday market manipulation is hard to detect because its footprint is brief, buried in millions of quotes, and statistically similar to ordinary volatility. Detectors reach high recall only by flagging so many other days that measured precision collapses, producing alerts no regulator can act on. We show that this manipulation leaves a distinctive dynamic signature: a pump-and-crash pattern visible in the velocity of market state, rather than its level. We build a minute-level detection pipeline, strictly partitioned in time, based on smoothed state velocity: option-Delta velocity for index options and price velocity for equities. We explain every alert with SHAP attribution. We hold the test period strictly out-of-sample and fix all thresholds before evaluation. On the locked Indian BANKNIFTY index-options test, the plain autoencoder recovers 10 of 10 regulator-identified manipulation days. Conditioning detection on market regimes inferred by a hidden Markov model yields an instructive negative result. The regimes are descriptively distinct, but using them trades recall for precision. Under the closed-world assumption that unlabeled days are normal, precision remains near 25%. The same dynamic appears in thinly traded U.S. equities (SEC v. Patel). The shape of the signature survives the transfer; its velocity magnitude does not. A pump-reversal shape score ranks the complaint's alleged manipulation days with AUC 0.91 (ARQQ) and 0.81 (ACY). On the ARQQ worked example, the score peaks inside the complaint's documented minute window. Finally, exact SHAP attribution over every alert shows that unconfirmed alerts share the regulator-identified days' attribution profile (cosine similarity 0.99). The precision ceiling is consistent with incomplete enforcement labels rather than detector failure. What transfers across markets and instrument types is the dynamic signature itself.

arXiv

Quantum-Structured World Models (QSWMs) for Predictive Latent Dynamics

Hailong Jiang, Emran Hossain, Feng Yu, Jianfeng Zhu, Guilin Zhang, Wulan Guo

World models learn latent states that summarize interaction histories, evolve over time, and support prediction, simulation, or planning. Most existing world models represent these states using classical vectors, probability distributions, recurrent hidden states, or transformer activations. In this paper, we introduce Quantum-Structured World Models (QSWMs), a quantum-inspired framework for predictive world modeling with structured latent states, latent transition operators, and measurement-inspired decoding maps. We study whether mathematical structures inspired by quantum theory, such as complex-valued representations and density-matrix-like latents, provide useful inductive biases for world modeling. We establish three foundational properties: classical inclusion, predictive sufficiency, and structured compactness. We then instantiate complex-valued and density-matrix-like QSWM variants and evaluate them on elementary cellular automata against strong classical baselines. Results show promising local predictive potential for complex-valued QSWMs, while also revealing limitations in long-horizon rollout, density-matrix variants

arXiv

DG-FedReuse: Proxy-Gradient-Gated Cached-Update Reuse with Matched Sparse Uplink Accounting

Rahil Aftab, Vineet Kumar Rakesh, Soumya Mazumdar, Tapas Samanta

Federated learning repeatedly incurs local optimization and model-update transmission. We study DG-FedReuse, a simulator-level mechanism that allows selected clients to contribute age-decayed cached updates when a stochastic head-gradient discrepancy proxy remains below a round-dependent threshold. A hard cache-age limit and minimum fresh-client quota constrain reuse, while fresh updates use an adaptive per-tensor Top-K numerical-field representation. Experiments cover six image-classification datasets, 50 virtual clients, Dirichlet label heterogeneity (α=0.5), and three seeds. At a common 90-round budget, DG-FedReuse yields 83.36-85.42% modeled update-data-field uplink saving, compared with 76.88% for matched Top-K FedAvg; the seed-aligned accuracy differences range from -5.29 to -0.14 percentage points. Best-observed test accuracies obtained under test-controlled checkpointing are retained only as exploratory archival evidence and range from -2.38 to +0.45 percentage points relative to matched FedAvg. A symmetric dense-model-downlink sensitivity reduces the headline saving to 41.68-F42.71% and the incremental gain over Top-K FedAvg to 3.24-4.27 percentage points, demonstrating the dependence of communication conclusions on the accounting boundary. The study characterizes the proposed reuse rule in the implemented simulator; it does not establish unbiased generalization, end-to-end bandwidth reduction, runtime or energy savings, faster convergence, or superiority over existing stale-update and lazy-aggregation methods.

arXiv

Physics-Based Molecular Fingerprints from Spectral Graph Theory Provide Efficient Geometry-Aware Measures of Chemical Similarity

Jacob W. Toney, Ayleen Y. Farnood, Samir Darouich, Heather J. Kulik

Molecular representations are essential for the evaluation of molecular similarity and the development of structure-property relationships. Despite the known importance of 3D structure to determine chemical and physical properties, the most widely used molecular fingerprints encode only two-dimensional connectivity. Such representations fail to distinguish similar but distinct stereoisomers and conformers. Alternative 3D methods are typically defined pairwise, making their application to large chemical spaces prohibitive, while deep learning embeddings are expressive but uninterpretable and limited by their training data diversity. Here, we introduce novel physics-inspired molecular fingerprints based on principles from spectral graph theory. We represent molecules as a complete graph in 3D space, with edge weights encoding heuristic physical interactions. Eigenvalue decomposition of the resulting graph Laplacian matrix results in a computationally efficient fixed-length chemical fingerprint that encodes 3D structure while obeying necessary physical symmetries of permutation and E(3) invariance. Spectral fingerprints differentiate between unique molecular structures with identical 2D connectivity, overcoming a limitation of 2D descriptors, while maintaining the low computational cost needed for efficient screening of vast chemical spaces. We evaluate our fingerprints with community detection algorithms and observe strong performance against representative baselines across datasets from organic, inorganic, biological, reticular, and reaction chemistry. Nearest-neighbor property estimation and applicability domain analyses reveal the utility of our molecular representation in machine learning and cheminformatics. We anticipate that spectral fingerprints will serve as generalizable, interpretable, and efficient measures of chemical similarity that incorporate 3D information at minimal cost.

arXiv

Computationally Efficient Collaborative Communication Via Regularity-Based Coarsening

Mark Bedaywi, Scott Emmons, Nika Haghtalab, Stuart Russell

Our results show that the existence of a short high-utility protocol already suffices for efficient communication. In particular, in a game with $n$ possible observations and $m$ actions: (1) For any achievable target utility $α$, we give an algorithm with $\mathrm{poly}(n, m, 1/ε)$ runtime that designs a protocol achieving utility at least $α-ε$ using only $2^{\mathcal O(CC_α(G))}/ε^2$ bits of communication. Here, $CC_α(G)$ is the minimum number of bits used by any protocol, even a computationally inefficient one, to achieve utility $α$. (2) We prove that this exponential dependence on $CC_α(G)$ is tight up to a constant. That is, unless $\mathrm P=\mathrm{NP}$, no polynomial-time algorithm can in general find optimal protocols using fewer than $2^{CC_α(G) -2}$ bits. We note that our results strictly weaken the assumptions required by prior work in the multi-agent information aggregation literature, filling a gap that had remained elusive even for games with constant $CC_α(G)$. In particular, prior guarantees for agreement-based information aggregation rely on structural assumptions such as informational substitutes or weak learnability. We show that these assumptions already imply $CC_α(G) = O(1)$ and are therefore more restrictive conditions than required by our protocol to succeed. On a technical level, our results involve a novel strengthening of the Frieze-Kannan weak regularity lemma and yield the following powerful polynomial-time transformation tool: for every communication game $G$, it constructs a game $\hat G$ that is a coarsening of the agents' observation spaces into constant-size partitions, such that $G$ and $\hat G$ are indistinguishable with respect to every short communication protocol. This coarsening theorem is the engine behind our algorithm and may be of independent interest.

arXiv

Rectifying Geometric Misalignment: Online Source-Free Adaptation for Class-Imbalanced EEG

Shiwen Chu, Shanglin Li, Motoaki Kawanabe, Reinmar Kobler

Electroencephalography (EEG) based Brain-Computer Interfaces (BCIs) often require unsupervised domain adaptation (UDA) to generalize across subjects and sessions. While Riemannian alignment methods like the Riemannian Centering Transformation (RCT) are effective for handling covariate shifts, they implicitly assume balanced class priors. However, in realistic online BCI scenarios, the label distributions vary dynamically (label shift), causing standard alignment techniques to geometrically misalign the target data distributions. In this work, we propose OSPDIM (Online SPD manifold information maximization), a source-free online UDA framework designed to address label shifts on the Riemannian manifold. OSPDIM introduces a manifold-constrained bias parameter into the tangent space mapping, which is optimized via information maximization to correct the geometric skew caused by imbalanced data streams. Unlike offline methods relying on global batch statistics, OSPDIM estimates and corrects geometric bias on-the-fly. Simulations on 2D SPD matrices visually demonstrate that OSPDIM successfully rectifies the misalignment where standard centering fails. Extensive experiments on multiple motor imagery datasets show that OSPDIM significantly outperforms standard Riemannian baselines, particularly in challenging online adaptation scenarios with severe class imbalance, offering a robust solution for practical, plug-and-play BCI systems.

arXiv

Failing Gracefully: Mitigating Impact of Inevitable Robot Failures

Duc M. Nguyen, Saad A. Ghani, Andrew Marshall, Allison Andreyev, Gregory J. Stein, Xuesu Xiao

Service robots operate in household environments shared with humans, pets, and everyday objects, where they are highly susceptible to failures such as software crashes, hardware degradation, or unpredictable interactions. While roboticists strive to minimize failures, some remain inevitable, making it critical to mitigate their potential consequences for safe and reliable deployment. This paper introduces a novel safety formulation that evaluates both the probability of impactful interactions between robots and surrounding entities during failures, and the severity of their outcomes. By quantifying the impact of failures on different entities, our approach enables robots to make informed planning decisions that balance safety with task efficiency. To support systematic evaluation, we also present FailBench, a MuJoCo-based simulation framework for studying robot-environment interactions under diverse failure modes, including sensing issues and actuator malfunctions. Together, our safety formulation and FailBench provide a foundation for developing safer and more robust motion plans and learned policies in real-world household environments.

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