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arXiv:2604.05070v1 Announce Type: new Abstract: Simulation is essential for autonomous driving, yet current frameworks often model vehicles as rigid assets and fail to capture part-level articulation. With perception algorithms increasingly leveraging dynamics such as wheel steering or door opening, realistic simulation requires animatable vehicle representations. Existing CAD-based pipelines are limited by library coverage and fixed templates, preventing faithful reconstruction of in-the-wild instances. We propose a generative framework that, from a single image or sparse multi-view input, synthesizes an […]

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arXiv:2604.05068v1 Announce Type: new Abstract: Compute-optimal scaling laws are relatively well studied for NLP and CV, where objectives are typically single-step and targets are comparatively homogeneous. Weather forecasting is harder to characterize in the same framework: autoregressive rollouts compound errors over long horizons, outputs couple many physical channels with disparate scales and predictability, and globally pooled test metrics can disagree sharply with per-channel, late-lead behavior implied by short-horizon training. We extend neural scaling analysis for autoregressive weather forecasting […]

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arXiv:2604.05067v1 Announce Type: new Abstract: Python’s dynamic type system, while offering significant flexibility and expressiveness, poses substantial challenges for static analysis and automated tooling, particularly in unannotated or partially annotated codebases. Existing type inference approaches often depend on existing type annotations or on deep learning models that require extensive training corpora and considerable computational resources, resulting in limited scalability and reduced interpretability. We introduce Typify, a lightweight, usage-driven static analysis engine designed to infer precise and contextually relevant […]

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arXiv:2604.05066v1 Announce Type: new Abstract: Data movement is the primary bottleneck in modern computing systems. For loop-based programs common in high-performance computing (HPC) and AI workloads, including matrix multiplication, tensor contraction, stencil computation, and einsum operations, the cost of moving data through the memory hierarchy often exceeds the cost of arithmetic. This paper presents AutoLALA, an open-source tool that analyzes data locality in affine loop programs. The tool accepts programs written in a small domain-specific language (DSL), lowers […]

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arXiv:2604.05065v1 Announce Type: new Abstract: We propose APLICUR, an adaptive preconditioning framework for large-scale linear least-squares (LLS) problems. Using a single small sketch computed once at initialization, APLICUR incrementally refines a CUR-based preconditioner throughout the Krylov solve, interleaving preconditioning with iteration. This enables early convergence without the need to construct a costly high-quality preconditioner upfront. With a modest sketch dimension (typically 5 – 250), largely independent of both the problem size and numerical rank, APLICUR achieves convergence guarantees […]

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arXiv:2604.05064v1 Announce Type: new Abstract: Synthetic data is essential for training foundation models for time series (FMTS), but most generators assume static correlations, and are typically missing realistic inter-channel dependencies. We introduce DynLMC, a Dynamic Linear Model of Coregionalization, that incorporates time-varying, regime-switching correlations and cross-channel lag structures. Our approach produces synthetic multivariate time series with correlation dynamics that closely resemble real data. Fine-tuning three foundational models on DynLMC-generated data yields consistent zero-shot forecasting improvements across nine benchmarks. […]

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arXiv:2604.05062v1 Announce Type: new Abstract: Learning visuomotor policies for Autonomous Aerial Vehicles (AAVs) relying solely on monocular vision is an attractive yet highly challenging paradigm. Existing end-to-end learning approaches directly map high-dimensional RGB observations to action commands, which frequently suffer from low sample efficiency and severe sim-to-real gaps due to the visual discrepancy between simulation and physical domains. To address these long-standing challenges, we propose GaussFly, a novel framework that explicitly decouples representation learning from policy optimization through […]

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arXiv:2604.05060v1 Announce Type: new Abstract: Accurate Point Cloud Registration (PCR) is an important task in 3D data processing, involving the estimation of a rigid transformation between two point clouds. While deep-learning methods have addressed key limitations of traditional non-learning approaches, such as sensitivity to noise, outliers, occlusion, and initialization, they are developed and evaluated on clean, dense, synthetic datasets (limiting their generalizability to real-world industrial scenarios). This paper introduces R3PM-Net, a lightweight, global-aware, object-level point matching network designed […]

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arXiv:2604.05051v1 Announce Type: new Abstract: Patients are increasingly turning to large language models (LLMs) with medical questions that are complex and difficult to articulate clearly. However, LLMs are sensitive to prompt phrasings and can be influenced by the way questions are worded. Ideally, LLMs should respond consistently regardless of phrasing, particularly when grounded in the same underlying evidence. We investigate this through a systematic evaluation in a controlled retrieval-augmented generation (RAG) setting for medical question answering (QA), where […]

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arXiv:2604.05045v1 Announce Type: new Abstract: Multi-channel sensor networks in industrial IoT often exceed available bandwidth. We propose PCA-Triage, a streaming algorithm that converts incremental PCA loadings into proportional per-channel sampling rates under a bandwidth budget. PCA-Triage runs in O(wdk) time with zero trainable parameters (0.67 ms per decision). We evaluate on 7 benchmarks (8–82 channels) against 9 baselines. PCA-Triage is the best unsupervised method on 3 of 6 datasets at 50% bandwidth, winning 5 of 6 against every […]

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