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arXiv:2604.09795v1 Announce Type: new Abstract: This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents. We prove that the proposed control yields asymptotic stability of the closed-loop system when the steering of the leader is known. For the case when the leader’s steering is unavailable to the follower, we show that […]

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arXiv:2604.09793v1 Announce Type: new Abstract: Scientific breakthroughs often emerge from synthesizing prior ideas into novel contributions. While language models (LMs) show promise in scientific discovery, their ability to perform this targeted, literature-grounded synthesis remains underexplored. We introduce insight anticipation, a generation task in which a model predicts a downstream paper’s core insight from its foundational parent papers. To evaluate this capability, we develop GiantsBench, a benchmark of 17k examples across eight scientific domains, where each example consists of […]

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arXiv:2604.09791v1 Announce Type: new Abstract: Small language models are attractive for production deployment due to their low cost, fast inference, and ease of specialization. However, adapting them to a specific task remains a challenging engineering loop, driven not by training itself but by surrounding decisions: data curation, failure diagnosis, regression avoidance, and iteration control. We present Pioneer Agent, a closed-loop system that automates this lifecycle. In cold-start mode, given only a natural-language task description, the agent acquires data, […]

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arXiv:2604.09790v1 Announce Type: new Abstract: This contribution investigates the computational complexity of simulating linear ordinary differential equations (ODEs) on digital computers. We provide an exact characterization of the complexity blowup for a class of ODEs of arbitrary order based on their algebraic properties, extending previous characterization of first order ODEs. Complexity blowup indeed arises in most ODEs (except for certain degenerate cases) and means that there exists a low complexity input signal, which can be generated on a […]

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arXiv:2604.09782v1 Announce Type: new Abstract: Chagas disease screening via ECGs is limited by scarce and noisy labels in existing datasets. We propose a biomarker-based pretraining approach, where an ECG feature extractor is first trained to predict percentile-binned blood biomarkers from the MIMIC-IV-ECG dataset. The pretrained model is then fine-tuned on Brazilian datasets for Chagas detection. Our 5-model ensemble, developed by the Ahus AIM team, achieved a challenge score of 0.269 on the hidden test set, ranking 5th in […]

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arXiv:2604.09781v1 Announce Type: new Abstract: Vision-Language Models (VLMs) exhibit strong visual reasoning capabilities, yet they still struggle with 3D understanding. In particular, VLMs often fail to infer a text-consistent goal 6D pose of a target object in a 3D scene. However, we find that with some inference-time techniques and iterative reasoning, VLMs can achieve dramatic performance gains. Concretely, given a 3D scene represented by an RGB-D image (or a compositional scene of 3D meshes) and a text instruction […]

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arXiv:2604.09780v1 Announce Type: new Abstract: Mixture of Experts (MoEs) are now ubiquitous in large language models, yet the mechanisms behind their “expert specialization” remain poorly understood. We show that, since MoE routers are linear maps, hidden state similarity is both necessary and sufficient to explain expert usage similarity, and specialization is therefore an emergent property of the representation space, not of the routing architecture itself. We confirm this at both token and sequence level across five pre-trained models. […]

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arXiv:2604.09774v1 Announce Type: new Abstract: Pinching antenna (PA) systems have recently emerged as a promising architecture for reconfigurable wireless communications by enabling flexible antenna placement along a dielectric waveguide. However, existing works typically assume perfect knowledge of user locations, which is impractical in real systems where location estimation errors are inevitable. In this paper, we investigate robust power allocation and antenna placement for PA systems under user location uncertainty. We consider both single-antenna and multi-antenna configurations, where the […]

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arXiv:2604.09759v1 Announce Type: new Abstract: Transformers achieve state-of-the-art performance in natural language processing, vision, and scientific computing, but demand high computation and memory. To address these challenges, we present ASTRA, the first silicon-photonic accelerator leveraging stochastic computing for transformers. ASTRA employs novel optical stochastic multipliers and unary/analog homodyne accumulation in a crosstalk-minimal organization to efficiently process dynamic tensor computations. Evaluations show at least 7.6x speedup and 1.3x lower energy overheads compared to state-of-the-art accelerators, highlighting ASTRA’s potential for […]

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arXiv:2604.09757v1 Announce Type: new Abstract: Medical vision–language models (VLMs) have shown strong potential for medical visual question answering (VQA), yet their reasoning remains largely text-centric: images are encoded once as static context, and subsequent inference is dominated by language. This paradigm is fundamentally limited in clinical scenarios, where accurate answers often depend on subtle, localized visual evidence that cannot be reliably preserved in static embeddings. We propose textsc{MedLVR}, a latent visual reasoning framework that introduces an explicit visual […]

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