January 2026

arXiv:2601.16405v1 Announce Type: new Abstract: Coverage Path Planning (CPP) is a fundamental capability for agricultural robots; however, existing solutions often overlook energy constraints, resulting in incomplete operations in large-scale or resource-limited environments. This paper proposes an energy-aware CPP framework grounded in Soft Actor-Critic (SAC) reinforcement learning, designed for grid-based environments with obstacles and charging stations. To enable robust and adaptive decision-making under energy limitations, the framework integrates Convolutional Neural Networks (CNNs) for spatial feature extraction and Long Short-Term […]

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arXiv:2601.16403v1 Announce Type: new Abstract: Reinforcement Learning from Human Feedback (RLHF) and its variants have emerged as the dominant approaches for aligning Large Language Models with human intent. While empirically effective, the theoretical generalization properties of these methods in high-dimensional settings remain to be explored. To this end, we build the generalization theory on RLHF of LLMs under the linear reward model, through the framework of algorithmic stability. In contrast to the existing works built upon the consistency […]

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arXiv:2601.16400v1 Announce Type: new Abstract: Real-world visual question answering (VQA) is often context-dependent: an image-question pair may be under-specified, such that the correct answer depends on external information that is not observable in the image. In such cases, directly answering can lead to confident but incorrect predictions. We propose CoA(Clarify-or-Answer), an ask-or-answer agent that separately models the decision to ask or answer, and what to ask if needed. CoA first determines whether clarification is necessary; if so, it […]

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arXiv:2601.16399v1 Announce Type: new Abstract: We study a structured bi-level optimization problem where the upper-level objective is a smooth function and the lower-level problem is policy optimization in a Markov decision process (MDP). The upper-level decision variable parameterizes the reward of the lower-level MDP, and the upper-level objective depends on the optimal induced policy. Existing methods for bi-level optimization and RL often require second-order information, impose strong regularization at the lower level, or inefficiently use samples through nested-loop […]

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arXiv:2601.16398v1 Announce Type: new Abstract: Algorithmic audits are essential tools for examining systems for properties required by regulators or desired by operators. Current audits of large language models (LLMs) primarily rely on black-box evaluations that assess model behavior only through input-output testing. These methods are limited to tests constructed in the input space, often generated by heuristics. In addition, many socially relevant model properties (e.g., gender bias) are abstract and difficult to measure through text-based inputs alone. To […]

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arXiv:2601.16397v1 Announce Type: new Abstract: Trustworthy clinical summarization requires not only fluent generation but also transparency about where each statement comes from. We propose a training-free framework for generation-time source attribution that leverages decoder attentions to directly cite supporting text spans or images, overcoming the limitations of post-hoc or retraining-based methods. We introduce two strategies for multimodal attribution: a raw image mode, which directly uses image patch attentions, and a caption-as-span mode, which substitutes images with generated captions […]

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arXiv:2601.16394v1 Announce Type: new Abstract: Referring Expression Segmentation (RES) is a core vision-language segmentation task that enables pixel-level understanding of targets via free-form linguistic expressions, supporting critical applications such as human-robot interaction and augmented reality. Despite the progress of Multimodal Large Language Model (MLLM)-based approaches, existing RES methods still suffer from two key limitations: first, the coarse bounding boxes from MLLMs lead to redundant or non-discriminative point prompts; second, the prevalent reliance on textual coordinate reasoning is unreliable, […]

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arXiv:2601.16393v1 Announce Type: new Abstract: This paper presents a terrestrial GNSS-based orbit and clock estimation framework for lunar navigation satellites. To enable high-precision estimation under the low-observability conditions encountered at lunar distances, we develop a stochastic-cloning UD-factorized filter and delayed-state smoother that provide enhanced numerical stability when processing precise time-differenced carrier phase (TDCP) measurements. A comprehensive dynamics and measurement model is formulated, explicitly accounting for relativistic coupling between orbital and clock states, lunar time-scale transformations, and signal propagation […]

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arXiv:2601.16392v1 Announce Type: new Abstract: With the advent of agentic AI, Software Engineering is transforming to a new era dubbed Software Engineering 3.0. Software project management (SPM) must also evolve with such transformations to boost successful project completion, while keeping humans at the heart of it. Building on our preliminary ideas of “agentic SPM”, and supporting literature, we present our vision of an “Agentic Project Manager (PM)” as a multi-agent system for SPM 3.0. They will work like […]

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arXiv:2601.16390v1 Announce Type: new Abstract: Large language models exhibit strong multilingual capabilities, yet significant performance gaps persist between dominant and non-dominant languages. Prior work attributes this gap to imbalances between shared and language-specific neurons in multilingual representations. We propose Cross-Lingual Activation Steering (CLAS), a training-free inference-time intervention that selectively modulates neuron activations. We evaluate CLAS on classification and generation benchmarks, achieving average improvements of 2.3% (Acc.) and 3.4% (F1) respectively, while maintaining high-resource language performance. We discover that […]

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